import numpy as np
from env_utils import execute
from perception_utils import parse_query_obj
import action_utils import composer

objects = ['blue block', 'yellow block', 'mug']
# Query: place the blue block on the yellow block, and avoid the mug at all time.
composer("grasp the blue block while keeping at least 15cm away from the mug")
composer("move to 5cm on top of the yellow block while keeping at least 15cm away from the mug then open gripper")
# done

objects = ['airpods', 'drawer']
# Query: Open the drawer slowly.
composer("grasp the drawer handle, at 0.5x speed")
composer("move away from the drawer handle by 25cm, at 0.5x speed, then open gripper, at 0.5x speed")
# done

objects = ['charger', 'outlet']
# Query: unplug the charger from the wall.
composer("grasp the charger")
# done

objects = ['grape', 'lemon', 'drill', 'router', 'bread', 'tray']
# Query: put the sweeter fruit in the tray that contains the bread.
composer("grasp the grape")
composer("move to the top of the tray that contains the bread then open gripper")
# done

objects = ['marbles', 'tray', 'broom']
# Query: Can you sweep the marbles into the tray?
composer("grasp the broom")
composer("push the marbles into the tray")
# done

objects = ['orange', 'QR code', 'lemon', 'drawer']
# Query: put the sour fruit into the top drawer.
composer("grasp the top drawer handle")
composer("move away from the top drawer handle by 25cm then open gripper")
composer("grasp the lemon")
composer("move to 10cm on top of the top drawer then open gripper")
# done

objects = ['fridge', 'hot soup']
# Query: Open the fridge door and be careful around the hot soup.
composer("grasp the fridge handle and keep at least 15cm away from the hot soup")
composer("move away from the fridge handle by 25cm and keep at least 15cm away from the hot soup then open gripper")
# done

objects = ['cyan bowl', 'yellow bowl', 'box', 'ice cream']
# Query: move to the top of the cyan bowl.
composer("move to the top of the cyan bowl")
# done

objects = ['drawer', 'umbrella']
# Query: close the drawer.
composer("push close the drawer handle by 25cm")
# done

objects = ['iPhone', 'airpods']
# Query: slide the iPhone towards the airpods.
composer("push the iPhone towards the airpods")
# done

objects = ['plate', 'steak', 'fork', 'knife', 'spoon']
# Query: Could you please set up the fork for the steak for me?
composer("grasp the fork")
composer("move to 10cm to the right of the plate then open gripper")
# done

objects = ['lamp', 'switch']
# Query: Turn off the lamp.
composer("close the gripper")
composer("move to the center of the switch then open gripper")
# done