manipulation_zeroshot.md

Imagine we are working with a manipulator robot. This is a robotic arm that has a gripper attached to its end effector. The gripper is in the closed position in the beginning. I would like you to assist me in sending commands to this robot. At any point, you have access to the following functions. You are not to use any hypothetical functions. All units are in the SI system.

get_position(object): Given a string of an object name, get the X, Y coordinates of the object. move_to(position): Given an X, Y, Z position, move the arm to that position. open_gripper(): Open the gripper close_gripper(): Close the gripper

Note that before interacting with objects, you will have to figure out a safe position above the object (based on the height of the object) before using the gripper, so you don't knock the object away accidentally.

The workspace contains several objects placed on a table. Let us assume there is a red sphere (5 cm tall), a blue block (10 cm tall) and a yellow bin (20 cm tall). I would like to remind you that get_position() only gives you the table level (X, Y) coordinates of an object, so you have to figure out an appropriate safe height for the gripper based on the size of the object.

I want you to give me code that drops the blue block and the red sphere into the yellow bin, in that order. Don't use variable names that are too long.

---

# Define safe height for each object
red_height = 5 + 5 # Add 5 cm for safe height above the sphere
blue_height = 10 + 5 # Add 5 cm for safe height above the block
bin_height = 20 + 5 # Add 5 cm for safe height above the bin

# Get the position of the blue block and red sphere
blue_pos = get_position("blue block")
red_pos = get_position("red sphere")

# Get the position of the yellow bin
bin_pos = get_position("yellow bin")

# Move the arm to the blue block
move_to([blue_pos[0], blue_pos[1], blue_height])

# Close the gripper to pick up the blue block
close_gripper()

# Move the arm to the yellow bin
move_to([bin_pos[0], bin_pos[1], bin_height])

# Open the gripper to drop the blue block into the bin
open_gripper()

# Move the arm to the red sphere
move_to([red_pos[0], red_pos[1], red_height])

# Close the gripper to pick up the red sphere
close_gripper()

# Move the arm to the yellow bin
move_to([bin_pos[0], bin_pos[1], bin_height])

# Open the gripper to drop the red sphere into the bin
open_gripper()

---

Now let's say the table has four blocks on it, which are yellow, white, red, and black. Each block is 5cm tall. There is also a green pad on the table. I want you to use the gripper to sequentially stack these blocks on the green pad. Start with the black block, and then on top of it, place the red, yellow, and white blocks on top of one another.

---

# Define safe height for each block
block_height = 5 + 5 # Add 5 cm for safe height above the block

# Get the positions of all blocks
black_pos = get_position("black block")
red_pos = get_position("red block")
yellow_pos = get_position("yellow block")
white_pos = get_position("white block")

# Get the position of the green pad
pad_pos = get_position("green pad")

# Move the arm to the black block
move_to([black_pos[0], black_pos[1], block_height])

# Close the gripper to pick up the black block
close_gripper()

# Move the arm to the green pad
move_to([pad_pos[0], pad_pos[1], block_height])

# Open the gripper to drop the black block on the green pad
open_gripper()

# Move the arm to the red block
move_to([red_pos[0], red_pos[1], block_height])

# Close the gripper to pick up the red block
close_gripper()

# Move the arm to the green pad
move_to([pad_pos[0], pad_pos[1], 2*block_height])

# Open the gripper to drop the red block on top of the black block
open_gripper()

# Move the arm to the yellow block
move_to([yellow_pos[0], yellow_pos[1], block_height])

# Close the gripper to pick up the yellow block
close_gripper()

# Move the arm to the green pad
move_to([pad_pos[0], pad_pos[1], 3*block_height])

# Open the gripper to drop the yellow block on top of the red block
open_gripper()

# Move the arm to the white block
move_to([white_pos[0], white_pos[1], block_height])

# Close the gripper to pick up the white block
close_gripper()

# Move the arm to the green pad
move_to([pad_pos[0], pad_pos[1], 4*block_height])

# Open the gripper to drop the white block on top of the yellow block
open_gripper()

---

Perfect! Let's say there is a hole on the table at position (5, 5). You have the ability to to push objects from the side. In order to push an object, you should not grip the object. Instead, you need to position the gripper a few centimeters beside the object. And make sure the gripper is just a few centimeters above the table. Then by moving the arm in the axis of interest, you can push it along the axis. Let's say there is a block sitting on the table at (0, 0) that's 10cm tall. Can you push this block towards the hole so it falls into the hole? You can only push either in the X or Y direction at any given time.

---

# Define safe height for the block
block_height = 5

# Get the position of the block
block_pos = get_position("block")

# Get the position of the hole
hole_pos = get_position("hole")

# Move the arm to the side of the block
move_to([block_pos[0] - 5, block_pos[1], block_height])

# Push the block in the X direction towards the hole
move_to([block_pos[0] + (hole_pos[0] - block_pos[0]), block_pos[1], block_height])

# Move the arm to the side of the block
move_to([block_pos[0], block_pos[1] - 5, block_height])

# Push the block in the Y direction towards the hole
move_to([block_pos[0], block_pos[1] + (hole_pos[1] - block_pos[1]), block_height])