data/dart_llm_tasks_pretty.json

[
  {
    "ID": "dart_llm-L1-T001",
    "text": "Dump truck 1 goes to the puddle for inspection, after which all robots avoid the puddle.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_01"
            ],
            "dependencies": [],
            "object_keywords": [
              "puddle1"
            ]
          }
        },
        {
          "task": "avoid_areas_for_all_robots_1",
          "instruction_function": {
            "name": "avoid_areas_for_all_robots",
            "robot_type": [
              "excavator",
              "dump_truck"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": [
              "puddle1"
            ]
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L1-T002",
    "text": "Drive the Excavator 1 to the obstacle, and perform excavation to clear the obstacle.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [],
            "object_keywords": [
              "obstacle1"
            ]
          }
        },
        {
          "task": "Excavation_1",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L2-T001",
    "text": "Send Excavator 1 and Dump Truck 1 to the soil area; Excavator 1 will excavate and unload, followed by Dump Truck 1 proceeding to the puddle for unloading.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_01",
              "robot_dump_truck_01"
            ],
            "dependencies": [],
            "object_keywords": [
              "soil1"
            ]
          }
        },
        {
          "task": "Excavation_1",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_1",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "Excavation_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "target_area_for_specific_robots_2",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_01"
            ],
            "dependencies": [
              "ExcavatorUnloading_1"
            ],
            "object_keywords": [
              "puddle1"
            ]
          }
        },
        {
          "task": "DumpUnloading_1",
          "instruction_function": {
            "name": "DumpUnloading",
            "robot_ids": [
              "robot_dump_truck_01"
            ],
            "dependencies": [
              "target_area_for_specific_robots_2"
            ],
            "object_keywords": [
              "puddle1"
            ]
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L2-T002",
    "text": "Move Excavator 1 and Dump Truck 1 to soil area 2; Excavator 1 will excavate and unload, then Dump Truck 1 returns to the starting position to unload.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_01",
              "robot_dump_truck_01"
            ],
            "dependencies": [],
            "object_keywords": [
              "soil2"
            ]
          }
        },
        {
          "task": "Excavation_1",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_1",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "Excavation_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "return_to_start_for_specific_robots_1",
          "instruction_function": {
            "name": "return_to_start_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_01"
            ],
            "dependencies": [
              "ExcavatorUnloading_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "DumpUnloading_1",
          "instruction_function": {
            "name": "DumpUnloading",
            "robot_ids": [
              "robot_dump_truck_01"
            ],
            "dependencies": [
              "return_to_start_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L3-T001",
    "text": "Excavator 1 is guided to the obstacle to excavate and unload to clear the obstacle, then excavator 1 and dump truck 1 are moved to the soil area, and the excavator excavates and unloads. Finally, dump truck 1 unloads the soil into the puddle.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [],
            "object_keywords": [
              "obstacle1"
            ]
          }
        },
        {
          "task": "Excavation_1",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_1",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "Excavation_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "target_area_for_specific_robots_2",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_01",
              "robot_dump_truck_01"
            ],
            "dependencies": [
              "ExcavatorUnloading_1"
            ],
            "object_keywords": [
              "soil1"
            ]
          }
        },
        {
          "task": "Excavation_2",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "target_area_for_specific_robots_2"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_2",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "Excavation_2"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "target_area_for_specific_robots_3",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_01"
            ],
            "dependencies": [
              "ExcavatorUnloading_2"
            ],
            "object_keywords": [
              "puddle1"
            ]
          }
        },
        {
          "task": "DumpUnloading_1",
          "instruction_function": {
            "name": "DumpUnloading",
            "robot_ids": [
              "robot_dump_truck_01"
            ],
            "dependencies": [
              "target_area_for_specific_robots_3"
            ],
            "object_keywords": [
              "puddle1"
            ]
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L3-T002",
    "text": "Excavator 1 goes to the obstacle to excavate and unload to clear the obstacle. Once the obstacle is cleared, mobilize all available robots to proceed to the puddle area for inspection.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [],
            "object_keywords": [
              "obstacle1"
            ]
          }
        },
        {
          "task": "Excavation_1",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_1",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "Excavation_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "target_area_for_all_robots_1",
          "instruction_function": {
            "name": "target_area_for_all_robots",
            "robot_type": [
              "excavator",
              "dump_truck"
            ],
            "dependencies": [
              "ExcavatorUnloading_1"
            ],
            "object_keywords": [
              "puddle1"
            ]
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L1-T003",
    "text": "Send Excavator 2 to the rock area and then command it to avoid the obstacle.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [],
            "object_keywords": [
              "rock1"
            ]
          }
        },
        {
          "task": "avoid_areas_for_specific_robots_1",
          "instruction_function": {
            "name": "avoid_areas_for_specific_robots",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": [
              "obstacle1"
            ]
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L1-T004",
    "text": "Direct Dump Truck 2 to the dumping site near soil area 2.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_02"
            ],
            "dependencies": [],
            "object_keywords": [
              "soil2",
              "dumping_site"
            ]
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L2-T003",
    "text": "Guide Excavator 2 and Dump Truck 1 to avoid Rock Area 1 and proceed to Soil Area 2. After the excavator completes soil excavation and unloading, Excavator 2 goes to inspect the puddle, then returns to the origin.",
    "output": {
      "tasks": [
        {
          "task": "avoid_areas_for_specific_robots_1",
          "instruction_function": {
            "name": "avoid_areas_for_specific_robots",
            "robot_ids": [
              "robot_excavator_02",
              "robot_dump_truck_01"
            ],
            "dependencies": [],
            "object_keywords": [
              "rock1"
            ]
          }
        },
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_02",
              "robot_dump_truck_01"
            ],
            "dependencies": [
              "avoid_areas_for_specific_robots_1"
            ],
            "object_keywords": [
              "soil2"
            ]
          }
        },
        {
          "task": "Excavation_1",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_1",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [
              "Excavation_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "target_area_for_specific_robots_2",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [
              "ExcavatorUnloading_1"
            ],
            "object_keywords": [
              "puddle1"
            ]
          }
        },
        {
          "task": "return_to_start_for_specific_robots_1",
          "instruction_function": {
            "name": "return_to_start_for_specific_robots",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [
              "target_area_for_specific_robots_2"
            ],
            "object_keywords": []
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L3-T003",
    "text": "All robots avoid Obstacle 1. Excavator 1 and Dump Truck 1 go to Obstacle 1 to clear it by excavation and unloading with the excavator. After clearing is completed, all robots are allowed to pass through Obstacle 1. Dump Truck 1 unloads at the initial location. Dump Truck 2 goes to Puddle 1, and Dump Truck 3 goes to Puddle 2.",
    "output": {
      "tasks": [
        {
          "task": "avoid_areas_for_all_robots_1",
          "instruction_function": {
            "name": "avoid_areas_for_all_robots",
            "robot_type": [],
            "dependencies": [],
            "object_keywords": [
              "obstacle1"
            ]
          }
        },
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_01",
              "robot_dump_truck_01"
            ],
            "dependencies": [
              "avoid_areas_for_all_robots_1"
            ],
            "object_keywords": [
              "obstacle1"
            ]
          }
        },
        {
          "task": "Excavation_1",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_1",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "Excavation_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "allow_areas_for_all_robots_1",
          "instruction_function": {
            "name": "allow_areas_for_all_robots",
            "robot_type": [],
            "dependencies": [
              "ExcavatorUnloading_1"
            ],
            "object_keywords": [
              "obstacle1"
            ]
          }
        },
        {
          "task": "return_to_start_for_specific_robots_1",
          "instruction_function": {
            "name": "return_to_start_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_01"
            ],
            "dependencies": [
              "allow_areas_for_all_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "DumpUnloading_1",
          "instruction_function": {
            "name": "DumpUnloading",
            "robot_ids": [
              "robot_dump_truck_01"
            ],
            "dependencies": [
              "return_to_start_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "target_area_for_specific_robots_2",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_02"
            ],
            "dependencies": [
              "allow_areas_for_all_robots_1"
            ],
            "object_keywords": [
              "puddle1"
            ]
          }
        },
        {
          "task": "target_area_for_specific_robots_3",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_03"
            ],
            "dependencies": [
              "allow_areas_for_all_robots_1"
            ],
            "object_keywords": [
              "puddle2"
            ]
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L1-T005",
    "text": "Send Excavator 1 to obstacle 2, perform excavation.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [],
            "object_keywords": [
              "obstacle2"
            ]
          }
        },
        {
          "task": "Excavation_1",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L1-T006",
    "text": "Guide Dump Truck 1 to the starting position and unload.",
    "output": {
      "tasks": [
        {
          "task": "return_to_start_for_specific_robots_1",
          "instruction_function": {
            "name": "return_to_start_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_01"
            ],
            "dependencies": [],
            "object_keywords": []
          }
        },
        {
          "task": "DumpUnloading_1",
          "instruction_function": {
            "name": "DumpUnloading",
            "robot_ids": [
              "robot_dump_truck_01"
            ],
            "dependencies": [
              "return_to_start_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L2-T004",
    "text": "Send Excavator 3 and Dump Truck 2 to soil area 1; Excavator 3 will excavate and unload, then Dump Truck 2 proceeds to puddle 1 for unloading.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_03",
              "robot_dump_truck_02"
            ],
            "dependencies": [],
            "object_keywords": [
              "soil1"
            ]
          }
        },
        {
          "task": "Excavation_1",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_03"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_1",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_03"
            ],
            "dependencies": [
              "Excavation_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "target_area_for_specific_robots_2",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_02"
            ],
            "dependencies": [
              "ExcavatorUnloading_1"
            ],
            "object_keywords": [
              "puddle1"
            ]
          }
        },
        {
          "task": "DumpUnloading_1",
          "instruction_function": {
            "name": "DumpUnloading",
            "robot_ids": [
              "robot_dump_truck_02"
            ],
            "dependencies": [
              "target_area_for_specific_robots_2"
            ],
            "object_keywords": []
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L2-T005",
    "text": "Move Excavator 1 and Dump Truck 3 to Rock Area 1. Excavator 1 will perform excavation and unloading, then Dump Truck 3 returns to the starting position.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_01",
              "robot_dump_truck_03"
            ],
            "dependencies": [],
            "object_keywords": [
              "rock1"
            ]
          }
        },
        {
          "task": "Excavation_1",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_1",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "Excavation_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "return_to_start_for_specific_robots_1",
          "instruction_function": {
            "name": "return_to_start_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_03"
            ],
            "dependencies": [
              "ExcavatorUnloading_1"
            ],
            "object_keywords": []
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L3-T004",
    "text": "Guide Excavator 1, Excavator 3, and Dump Truck 1 to Soil Area 1. The two excavators perform excavation and unloading separately. After both excavators finish unloading, Excavator 1 and Excavator 3 return to the starting position, and Dump Truck 1 unloads soil at Puddle 1.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_01",
              "robot_excavator_03",
              "robot_dump_truck_01"
            ],
            "dependencies": [],
            "object_keywords": [
              "soil1"
            ]
          }
        },
        {
          "task": "Excavation_1",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_1",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "Excavation_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "Excavation_2",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_03"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_2",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_03"
            ],
            "dependencies": [
              "Excavation_2"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "return_to_start_for_specific_robots_1",
          "instruction_function": {
            "name": "return_to_start_for_specific_robots",
            "robot_ids": [
              "robot_excavator_01",
              "robot_excavator_03"
            ],
            "dependencies": [
              "ExcavatorUnloading_1",
              "ExcavatorUnloading_2"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "target_area_for_specific_robots_2",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_01"
            ],
            "dependencies": [
              "ExcavatorUnloading_1",
              "ExcavatorUnloading_2"
            ],
            "object_keywords": [
              "puddle1"
            ]
          }
        },
        {
          "task": "DumpUnloading_1",
          "instruction_function": {
            "name": "DumpUnloading",
            "robot_ids": [
              "robot_dump_truck_01"
            ],
            "dependencies": [
              "target_area_for_specific_robots_2"
            ],
            "object_keywords": []
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L1-T007",
    "text": "Move Excavator 1 to soil area 1, perform excavation, then move to soil area 2 and excavate again.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [],
            "object_keywords": [
              "soil1"
            ]
          }
        },
        {
          "task": "Excavation_1",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "target_area_for_specific_robots_2",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "Excavation_1"
            ],
            "object_keywords": [
              "soil2"
            ]
          }
        },
        {
          "task": "Excavation_2",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "target_area_for_specific_robots_2"
            ],
            "object_keywords": []
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L1-T008",
    "text": "Guide dump truck 2 to load at the starting position, then go to the puddle 1 for dumping.",
    "output": {
      "tasks": [
        {
          "task": "return_to_start_for_specific_robots_1",
          "instruction_function": {
            "name": "return_to_start_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_02"
            ],
            "dependencies": [],
            "object_keywords": []
          }
        },
        {
          "task": "DumpLoading_1",
          "instruction_function": {
            "name": "DumpLoading",
            "robot_ids": [
              "robot_dump_truck_02"
            ],
            "dependencies": [
              "return_to_start_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_02"
            ],
            "dependencies": [
              "DumpLoading_1"
            ],
            "object_keywords": [
              "puddle1"
            ]
          }
        },
        {
          "task": "DumpUnloading_1",
          "instruction_function": {
            "name": "DumpUnloading",
            "robot_ids": [
              "robot_dump_truck_02"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L2-T006",
    "text": "Guide Excavator 2 and Dump Truck 1 to Obstacle 2. After Excavator 2 performs excavation and unloading, both machines go to Obstacle 1.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_02",
              "robot_dump_truck_01"
            ],
            "dependencies": [],
            "object_keywords": [
              "obstacle2"
            ]
          }
        },
        {
          "task": "Excavation_1",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_1",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [
              "Excavation_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "target_area_for_specific_robots_2",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_01"
            ],
            "dependencies": [
              "ExcavatorUnloading_1"
            ],
            "object_keywords": [
              "obstacle1"
            ]
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L3-T005",
    "text": "All robots avoid the rock area. After Excavator 1 goes to the rock area for excavation, Excavator 1 returns to the starting point, and all robots can pass through the rock area. After Dump Truck 1 and Excavator 2 go to the puddle area for excavation and unloading, Dump Truck 1 returns to the origin and unloads, and Excavator 2 also returns to the starting point.",
    "output": {
      "tasks": [
        {
          "task": "avoid_areas_for_all_robots_1",
          "instruction_function": {
            "name": "avoid_areas_for_all_robots",
            "robot_type": [],
            "dependencies": [],
            "object_keywords": [
              "rock1"
            ]
          }
        },
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "avoid_areas_for_all_robots_1"
            ],
            "object_keywords": [
              "rock1"
            ]
          }
        },
        {
          "task": "Excavation_1",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "allow_areas_for_all_robots_1",
          "instruction_function": {
            "name": "allow_areas_for_all_robots",
            "robot_type": [],
            "dependencies": [
              "Excavation_1"
            ],
            "object_keywords": [
              "rock1"
            ]
          }
        },
        {
          "task": "return_to_start_for_specific_robots_1",
          "instruction_function": {
            "name": "return_to_start_for_specific_robots",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "allow_areas_for_all_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "target_area_for_specific_robots_2",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_01",
              "robot_excavator_02"
            ],
            "dependencies": [],
            "object_keywords": [
              "puddle1"
            ]
          }
        },
        {
          "task": "Excavation_2",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [
              "target_area_for_specific_robots_2"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_1",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [
              "Excavation_2"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "return_to_start_for_specific_robots_2",
          "instruction_function": {
            "name": "return_to_start_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_01"
            ],
            "dependencies": [
              "ExcavatorUnloading_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "DumpUnloading_1",
          "instruction_function": {
            "name": "DumpUnloading",
            "robot_ids": [
              "robot_dump_truck_01"
            ],
            "dependencies": [
              "ExcavatorUnloading_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "return_to_start_for_specific_robots_3",
          "instruction_function": {
            "name": "return_to_start_for_specific_robots",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [
              "DumpUnloading_1"
            ],
            "object_keywords": []
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L3-T006",
    "text": "All robots avoid Obstacle 1 and Obstacle 2. Excavator 1 and Dump Truck 1 go to Obstacle 1 to clear it through excavation and unloading, then all robots are allowed to pass through Obstacle 1. Excavator 1 and Dump Truck 1 go to Obstacle 2 to clear it through excavation and unloading, then all robots are allowed to pass through Obstacle 2.",
    "output": {
      "tasks": [
        {
          "task": "avoid_areas_for_all_robots_1",
          "instruction_function": {
            "name": "avoid_areas_for_all_robots",
            "robot_type": [],
            "dependencies": [],
            "object_keywords": [
              "obstacle1",
              "obstacle2"
            ]
          }
        },
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_01",
              "robot_dump_truck_01"
            ],
            "dependencies": [
              "avoid_areas_for_all_robots_1"
            ],
            "object_keywords": [
              "obstacle1"
            ]
          }
        },
        {
          "task": "Excavation_1",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_1",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "Excavation_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "allow_areas_for_all_robots_1",
          "instruction_function": {
            "name": "allow_areas_for_all_robots",
            "robot_type": [],
            "dependencies": [
              "ExcavatorUnloading_1"
            ],
            "object_keywords": [
              "obstacle1"
            ]
          }
        },
        {
          "task": "target_area_for_specific_robots_2",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_01",
              "robot_dump_truck_01"
            ],
            "dependencies": [
              "allow_areas_for_all_robots_1"
            ],
            "object_keywords": [
              "obstacle2"
            ]
          }
        },
        {
          "task": "Excavation_2",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "target_area_for_specific_robots_2"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_2",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "Excavation_2"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "allow_areas_for_all_robots_2",
          "instruction_function": {
            "name": "allow_areas_for_all_robots",
            "robot_type": [],
            "dependencies": [
              "ExcavatorUnloading_2"
            ],
            "object_keywords": [
              "obstacle2"
            ]
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L2-T007",
    "text": "Send Excavator 1 and Dump Truck 2 to soil area 3; Excavator 1 will excavate and unload, then Dump Truck 2 will move to obstacle 1 for unloading.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_01",
              "robot_dump_truck_02"
            ],
            "dependencies": [],
            "object_keywords": [
              "soil3"
            ]
          }
        },
        {
          "task": "Excavation_1",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_1",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "Excavation_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "target_area_for_specific_robots_2",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_02"
            ],
            "dependencies": [
              "ExcavatorUnloading_1"
            ],
            "object_keywords": [
              "obstacle1"
            ]
          }
        },
        {
          "task": "DumpUnloading_1",
          "instruction_function": {
            "name": "DumpUnloading",
            "robot_ids": [
              "robot_dump_truck_02"
            ],
            "dependencies": [
              "target_area_for_specific_robots_2"
            ],
            "object_keywords": []
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L2-T008",
    "text": "Move Excavator 2 and Dump Truck 1 to rock area; Excavator 2 will excavate and unload, then Dump Truck 1 will proceed to puddle 2 for unloading.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_02",
              "robot_dump_truck_01"
            ],
            "dependencies": [],
            "object_keywords": [
              "rock1"
            ]
          }
        },
        {
          "task": "Excavation_1",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_1",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [
              "Excavation_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "target_area_for_specific_robots_2",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_01"
            ],
            "dependencies": [
              "ExcavatorUnloading_1"
            ],
            "object_keywords": [
              "puddle2"
            ]
          }
        },
        {
          "task": "DumpUnloading_1",
          "instruction_function": {
            "name": "DumpUnloading",
            "robot_ids": [
              "robot_dump_truck_01"
            ],
            "dependencies": [
              "target_area_for_specific_robots_2"
            ],
            "object_keywords": []
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L2-T009",
    "text": "All robots avoid puddle 2, then send excavator 2 and dump truck 2 to obstacle 2, excavator 2 will carry out excavation and unloading, then dump truck 2 goes to puddle 2 for unloading.",
    "output": {
      "tasks": [
        {
          "task": "avoid_areas_for_all_robots_1",
          "instruction_function": {
            "name": "avoid_areas_for_all_robots",
            "robot_type": [
              "excavator",
              "dump_truck"
            ],
            "dependencies": [
              "ExcavatorUnloading_1"
            ],
            "object_keywords": [
              "obstacle2"
            ]
          }
        },
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_02",
              "robot_dump_truck_02"
            ],
            "dependencies": [
              "avoid_areas_for_all_robots_1"
            ],
            "object_keywords": [
              "obstacle2"
            ]
          }
        },
        {
          "task": "Excavation_1",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_1",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [
              "Excavation_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "target_area_for_specific_robots_2",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_02"
            ],
            "dependencies": [
              "ExcavatorUnloading_1"
            ],
            "object_keywords": [
              "puddle2"
            ]
          }
        },
        {
          "task": "DumpUnloading_1",
          "instruction_function": {
            "name": "DumpUnloading",
            "robot_ids": [
              "robot_dump_truck_02"
            ],
            "dependencies": [
              "target_area_for_specific_robots_2"
            ],
            "object_keywords": []
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L2-T010",
    "text": "Direct the excavator 1 and the dump truck 1 to the rock area; after the excavator digs and unloads, the two machines return to the starting position.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_01",
              "robot_dump_truck_01"
            ],
            "dependencies": [],
            "object_keywords": [
              "rock1"
            ]
          }
        },
        {
          "task": "Excavation_1",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_1",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "Excavation_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "return_to_start_for_specific_robots_1",
          "instruction_function": {
            "name": "return_to_start_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_01",
              "robot_excavator_01"
            ],
            "dependencies": [
              "ExcavatorUnloading_1"
            ],
            "object_keywords": []
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L2-T011",
    "text": "Excavator 1 and dump truck 1 go to soil area 1, after excavator completes excavation and unloading, move both to soil area 2, then excavator performs another excavation and unloading.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_01",
              "robot_dump_truck_01"
            ],
            "dependencies": [],
            "object_keywords": [
              "soil1"
            ]
          }
        },
        {
          "task": "Excavation_1",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_1",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "Excavation_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "target_area_for_specific_robots_2",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_01",
              "robot_dump_truck_01"
            ],
            "dependencies": [
              "ExcavatorUnloading_1"
            ],
            "object_keywords": [
              "soil2"
            ]
          }
        },
        {
          "task": "Excavation_2",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "target_area_for_specific_robots_2"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_2",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "Excavation_2"
            ],
            "object_keywords": []
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L2-T012",
    "text": "Excavator 2 and dump truck 2 go to soil area 3, then excavator 2 will carry out excavation and unloading; all robots must avoid puddle 2 during the task before acting.",
    "output": {
      "tasks": [
        {
          "task": "avoid_areas_for_all_robots_1",
          "instruction_function": {
            "name": "avoid_areas_for_all_robots",
            "robot_type": [
              "dump_truck",
              "excavator"
            ],
            "dependencies": [],
            "object_keywords": [
              "puddle2"
            ]
          }
        },
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_02",
              "robot_dump_truck_02"
            ],
            "dependencies": [
              "avoid_areas_for_all_robots_1"
            ],
            "object_keywords": [
              "soil3"
            ]
          }
        },
        {
          "task": "Excavation_1",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_1",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [
              "Excavation_1"
            ],
            "object_keywords": []
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L3-T007",
    "text": "Deploy Excavator 1 and Dump Truck 1 to Soil Area 1, and Excavator 2 and Dump Truck 2 to Soil Area 2. Once both teams reach their designated areas, initiate excavation operations with the excavators loading soil into their respective dump trucks. After loading is complete, direct each dump truck to the disposal area for unloading.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_01",
              "robot_dump_truck_01"
            ],
            "dependencies": [],
            "object_keywords": [
              "soil1"
            ]
          }
        },
        {
          "task": "target_area_for_specific_robots_2",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_02",
              "robot_dump_truck_02"
            ],
            "dependencies": [],
            "object_keywords": [
              "soil2"
            ]
          }
        },
        {
          "task": "Excavation_1",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "Excavation_2",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [
              "target_area_for_specific_robots_2"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_1",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "Excavation_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_2",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [
              "Excavation_2"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "target_area_for_specific_robots_3",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_01"
            ],
            "dependencies": [
              "ExcavatorUnloading_1"
            ],
            "object_keywords": [
              "puddle1"
            ]
          }
        },
        {
          "task": "target_area_for_specific_robots_4",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_02"
            ],
            "dependencies": [
              "ExcavatorUnloading_2"
            ],
            "object_keywords": [
              "puddle2"
            ]
          }
        },
        {
          "task": "DumpUnloading_1",
          "instruction_function": {
            "name": "DumpUnloading",
            "robot_ids": [
              "robot_dump_truck_01"
            ],
            "dependencies": [
              "target_area_for_specific_robots_3"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "DumpUnloading_1",
          "instruction_function": {
            "name": "DumpUnloading",
            "robot_ids": [
              "robot_dump_truck_02"
            ],
            "dependencies": [
              "target_area_for_specific_robots_4"
            ],
            "object_keywords": []
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L3-T008",
    "text": "After Excavator 1 completes clearing Obstacle 1, return all robots to the starting position. Then, deploy Excavator 1 and Dump Truck 1 to Soil Area 2, where the excavator will perform excavation and load the dump truck.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [],
            "object_keywords": [
              "obstacle1"
            ]
          }
        },
        {
          "task": "Excavation_1",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_1",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "Excavation_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "return_to_start_for_all_robots_1",
          "instruction_function": {
            "name": "return_to_start_for_all_robots",
            "robot_ids": [],
            "dependencies": [
              "ExcavatorUnloading_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "target_area_for_specific_robots_2",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_01",
              "robot_dump_truck_01"
            ],
            "dependencies": [
              "return_to_start_for_all_robots_1"
            ],
            "object_keywords": [
              "soil2"
            ]
          }
        },
        {
          "task": "Excavation_2",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "target_area_for_all_robots_2"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_2",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "Excavation_2"
            ],
            "object_keywords": []
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L3-T009",
    "text": "All robots avoid the puddles. Excavator 1 and Excavator 2 go to Obstacle 1 and Soil Area 2 respectively. After completing excavation and unloading, regroup at the starting position.",
    "output": {
      "tasks": [
        {
          "task": "avoid_areas_for_all_robots_1",
          "instruction_function": {
            "name": "avoid_areas_for_all_robots",
            "robot_type": [],
            "dependencies": [],
            "object_keywords": [
              "puddle1",
              "puddle2"
            ]
          }
        },
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "avoid_areas_for_all_robots_1"
            ],
            "object_keywords": [
              "obstacle1"
            ]
          }
        },
        {
          "task": "target_area_for_specific_robots_2",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [],
            "object_keywords": [
              "soil2"
            ]
          }
        },
        {
          "task": "Excavation_1",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "Excavation_2",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [
              "target_area_for_specific_robots_2"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_1",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "Excavation_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_2",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [
              "Excavation_2"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "return_to_start_for_specific_robots_1",
          "instruction_function": {
            "name": "return_to_start_for_all_robots",
            "robot_ids": [
              "robot_excavator_01",
              "robot_excavator_02"
            ],
            "dependencies": [
              "ExcavatorUnloading_1",
              "ExcavatorUnloading_2"
            ],
            "object_keywords": []
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L3-T010",
    "text": "Guide all robots to avoid Obstacle 2. After Excavator 1 completes excavation and unloading in the rock area, go to Soil Area 3 for another excavation and unloading.",
    "output": {
      "tasks": [
        {
          "task": "avoid_areas_for_all_robots_1",
          "instruction_function": {
            "name": "avoid_areas_for_all_robots",
            "robot_type": [],
            "dependencies": [],
            "object_keywords": [
              "obstacle2"
            ]
          }
        },
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "avoid_areas_for_all_robots_1"
            ],
            "object_keywords": [
              "rock1"
            ]
          }
        },
        {
          "task": "Excavation_1",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_1",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "Excavation_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "target_area_for_specific_robots_2",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "ExcavatorUnloading_1"
            ],
            "object_keywords": [
              "soil3"
            ]
          }
        },
        {
          "task": "Excavation_2",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "target_area_for_specific_robots_2"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_2",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "Excavation_2"
            ],
            "object_keywords": []
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L3-T011",
    "text": "Guide all robots to avoid the puddle. Excavator 1 and Dump Truck 1 go to the soil area for excavation and unloading. After Dump Truck 1 unloads the soil into the puddle, all robots can pass through the puddle.",
    "output": {
      "tasks": [
        {
          "task": "avoid_areas_for_all_robots_1",
          "instruction_function": {
            "name": "avoid_areas_for_all_robots",
            "robot_type": [],
            "dependencies": [],
            "object_keywords": [
              "puddle1"
            ]
          }
        },
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_01",
              "robot_dump_truck_01"
            ],
            "dependencies": [
              "avoid_areas_for_all_robots_1"
            ],
            "object_keywords": [
              "soil1"
            ]
          }
        },
        {
          "task": "Excavation_1",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_1",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "Excavation_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "target_area_for_specific_robots_2",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_01"
            ],
            "dependencies": [
              "ExcavatorUnloading_1"
            ],
            "object_keywords": [
              "puddle1"
            ]
          }
        },
        {
          "task": "DumpUnloading_1",
          "instruction_function": {
            "name": "DumpUnloading",
            "robot_ids": [
              "robot_dump_truck_01"
            ],
            "dependencies": [
              "target_area_for_specific_robots_2"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "allow_areas_for_all_robots_1",
          "instruction_function": {
            "name": "allow_areas_for_all_robots",
            "robot_type": [],
            "dependencies": [
              "DumpUnloading_1"
            ],
            "object_keywords": [
              "puddle1"
            ]
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L3-T012",
    "text": "After Excavator 1 completes excavation and unloading in the rock area, it proceeds to soil area 1 for another round of excavation and unloading. Then all robots regroup at the starting position.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [],
            "object_keywords": [
              "rock1"
            ]
          }
        },
        {
          "task": "Excavation_1",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_1",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "Excavation_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "target_area_for_specific_robots_2",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "ExcavatorUnloading_1"
            ],
            "object_keywords": [
              "soil1"
            ]
          }
        },
        {
          "task": "Excavation_2",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "target_area_for_specific_robots_2"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_2",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "Excavation_2"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "return_to_start_for_all_robots_1",
          "instruction_function": {
            "name": "return_to_start_for_all_robots",
            "robot_ids": [],
            "dependencies": [
              "ExcavatorUnloading_2"
            ],
            "object_keywords": []
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L1-T009",
    "text": "Move Excavator 2 to the puddle area, then command it to avoid the obstacle.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [],
            "object_keywords": [
              "puddle1"
            ]
          }
        },
        {
          "task": "avoid_areas_for_specific_robots_1",
          "instruction_function": {
            "name": "avoid_areas_for_specific_robots",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": [
              "obstacle1"
            ]
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L1-T010",
    "text": "Guide Dump Truck 2 to the starting position.",
    "output": {
      "tasks": [
        {
          "task": "return_to_start_for_specific_robots_1",
          "instruction_function": {
            "name": "return_to_start_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_02"
            ],
            "dependencies": [],
            "object_keywords": []
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L1-T011",
    "text": "Send Excavator 3 to soil area 3.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_03"
            ],
            "dependencies": [],
            "object_keywords": [
              "soil3"
            ]
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L1-T012",
    "text": "Send Excavator 2 to the rock area, perform excavation.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [],
            "object_keywords": [
              "rock1"
            ]
          }
        },
        {
          "task": "Excavation_1",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L1-T013",
    "text": "Send Dump Truck 3 to the puddle area, proceed to unload.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_03"
            ],
            "dependencies": [],
            "object_keywords": [
              "puddle1"
            ]
          }
        },
        {
          "task": "DumpUnloading_1",
          "instruction_function": {
            "name": "DumpUnloading",
            "robot_ids": [
              "robot_dump_truck_03"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L1-T014",
    "text": "Move Excavator 1 to Soil Area 1 for excavation, then move to Soil Area 2.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [],
            "object_keywords": [
              "soil1"
            ]
          }
        },
        {
          "task": "Excavation_1",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "target_area_for_specific_robots_2",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "Excavation_1"
            ],
            "object_keywords": [
              "soil2"
            ]
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L1-T015",
    "text": "Guide Dump Truck 1 to obstacle 2, unload materials, then proceed to the starting position.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_01"
            ],
            "dependencies": [],
            "object_keywords": [
              "obstacle2"
            ]
          }
        },
        {
          "task": "DumpUnloading_1",
          "instruction_function": {
            "name": "DumpUnloading",
            "robot_ids": [
              "robot_dump_truck_01"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "return_to_start_for_specific_robots_1",
          "instruction_function": {
            "name": "return_to_start_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_01"
            ],
            "dependencies": [
              "DumpUnloading_1"
            ],
            "object_keywords": []
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L1-T016",
    "text": "Send Excavator 2 to the Rock Area for excavation, then return to the starting position.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [],
            "object_keywords": [
              "rock1"
            ]
          }
        },
        {
          "task": "Excavation_1",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "return_to_start_for_specific_robots_1",
          "instruction_function": {
            "name": "return_to_start_for_specific_robots",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [
              "Excavation_1"
            ],
            "object_keywords": []
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L1-T017",
    "text": "Directly instruct Dump Truck 1 to load at the starting position, then move to the dumping site near Soil Area 3 and unload.",
    "output": {
      "tasks": [
        {
          "task": "return_to_start_for_all_robots_1",
          "instruction_function": {
            "name": "return_to_start_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_01"
            ],
            "dependencies": [],
            "object_keywords": []
          }
        },
        {
          "task": "DumpLoading_1",
          "instruction_function": {
            "name": "DumpLoading",
            "robot_ids": [
              "robot_dump_truck_01"
            ],
            "dependencies": [
              "return_to_start_for_all_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_01"
            ],
            "dependencies": [
              "DumpLoading_1"
            ],
            "object_keywords": [
              "soil3"
            ]
          }
        },
        {
          "task": "DumpUnloading_1",
          "instruction_function": {
            "name": "DumpUnloading",
            "robot_ids": [
              "robot_dump_truck_01"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L2-T013",
    "text": "Send Excavator 1 and Dump Truck 1 to the Soil2. Excavator 1 will perform excavation and unloading, then return to the starting point together.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_01",
              "robot_dump_truck_01"
            ],
            "dependencies": [],
            "object_keywords": [
              "soil2"
            ]
          }
        },
        {
          "task": "Excavation_1",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_1",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "Excavation_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "return_to_start_for_specific_robots_1",
          "instruction_function": {
            "name": "return_to_start_for_specific_robots",
            "robot_ids": [
              "robot_excavator_01",
              "robot_dump_truck_01"
            ],
            "dependencies": [
              "ExcavatorUnloading_1"
            ],
            "object_keywords": []
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L2-T014",
    "text": "Guide Excavator 3 and Dump Truck 2 to Soil Area 3; Excavator 3 will perform excavation and unloading, then Dump Truck 2 will unload at the puddle.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_03",
              "robot_dump_truck_02"
            ],
            "dependencies": [],
            "object_keywords": [
              "soil3"
            ]
          }
        },
        {
          "task": "Excavation_1",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_03"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_1",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_03"
            ],
            "dependencies": [
              "Excavation_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "target_area_for_specific_robots_2",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_02"
            ],
            "dependencies": [
              "ExcavatorUnloading_1"
            ],
            "object_keywords": [
              "puddle1"
            ]
          }
        },
        {
          "task": "DumpUnloading_1",
          "instruction_function": {
            "name": "DumpUnloading",
            "robot_ids": [
              "robot_dump_truck_02"
            ],
            "dependencies": [
              "target_area_for_specific_robots_2"
            ],
            "object_keywords": []
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L2-T015",
    "text": "Move Excavator 2 and Dump Truck 3 to Obstacle 1; Excavator 2 will perform excavation and unloading.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_02",
              "robot_dump_truck_03"
            ],
            "dependencies": [],
            "object_keywords": [
              "obstacle1"
            ]
          }
        },
        {
          "task": "Excavation_1",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_1",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [
              "Excavation_1"
            ],
            "object_keywords": []
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L2-T016",
    "text": "Assign Dump Truck 1 to the puddle area. After all robots immediately avoid the puddle, Dump Truck 1 returns to the starting position.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_01"
            ],
            "dependencies": [],
            "object_keywords": [
              "soil2"
            ]
          }
        },
        {
          "task": "avoid_areas_for_all_robots_1",
          "instruction_function": {
            "name": "avoid_areas_for_all_robots",
            "robot_ids": [],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": [
              "puddle1"
            ]
          }
        },
        {
          "task": "return_to_start_for_specific_robots_1",
          "instruction_function": {
            "name": "return_to_start_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_01"
            ],
            "dependencies": [
              "avoid_areas_for_all_robots_1"
            ],
            "object_keywords": []
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L2-T017",
    "text": "Dump Truck 2 avoids the puddle. Excavator 2 and Dump Truck 2 return to the starting point, then allow Dump Truck 2 passage through the puddle.",
    "output": {
      "tasks": [
        {
          "task": "avoid_areas_for_specific_robots_1",
          "instruction_function": {
            "name": "avoid_areas_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_02"
            ],
            "dependencies": [],
            "object_keywords": [
              "puddle1"
            ]
          }
        },
        {
          "task": "return_to_start_for_specific_robots_1",
          "instruction_function": {
            "name": "return_to_start_for_specific_robots",
            "robot_ids": [
              "robot_excavator_02",
              "robot_dump_truck_02"
            ],
            "dependencies": [
              "avoid_areas_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "allow_areas_for_specific_robots_1",
          "instruction_function": {
            "name": "allow_areas_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_02"
            ],
            "dependencies": [
              "return_to_start_for_specific_robots_1"
            ],
            "object_keywords": [
              "puddle1"
            ]
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L2-T018",
    "text": "Send Excavator 1 and Dump Truck 3 to soil area 1; after excavation and unloading, Dump Truck 3 unloads at the puddle.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_01",
              "robot_dump_truck_03"
            ],
            "dependencies": [],
            "object_keywords": [
              "soil1"
            ]
          }
        },
        {
          "task": "Excavation_1",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_1",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "Excavation_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "target_area_for_specific_robots_2",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_03"
            ],
            "dependencies": [
              "ExcavatorUnloading_1"
            ],
            "object_keywords": [
              "puddle1"
            ]
          }
        },
        {
          "task": "DumpUnloading_1",
          "instruction_function": {
            "name": "DumpUnloading",
            "robot_ids": [
              "robot_dump_truck_03"
            ],
            "dependencies": [
              "target_area_for_specific_robots_2"
            ],
            "object_keywords": []
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L2-T019",
    "text": "Dispatch Excavator 1 and Dump Truck 3 to Soil Area 1. After excavation and unloading, both machines return to the starting position.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_01",
              "robot_dump_truck_03"
            ],
            "dependencies": [],
            "object_keywords": [
              "soil1"
            ]
          }
        },
        {
          "task": "Excavation_1",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_1",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "Excavation_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "return_to_start_for_specific_robots_1",
          "instruction_function": {
            "name": "return_to_start_for_specific_robots",
            "robot_ids": [
              "robot_excavator_01",
              "robot_dump_truck_03"
            ],
            "dependencies": [
              "ExcavatorUnloading_1"
            ],
            "object_keywords": []
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L2-T020",
    "text": "Guide Excavator 3 and Dump Truck 2 to the puddle area; Excavator 3 will excavate and unload, then Dump Truck 2 unloads at Soil 1.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_03",
              "robot_dump_truck_02"
            ],
            "dependencies": [],
            "object_keywords": [
              "puddle1"
            ]
          }
        },
        {
          "task": "Excavation_1",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_03"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_1",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_03"
            ],
            "dependencies": [
              "Excavation_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "target_area_for_specific_robots_2",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_02"
            ],
            "dependencies": [
              "ExcavatorUnloading_1"
            ],
            "object_keywords": [
              "soil1"
            ]
          }
        },
        {
          "task": "DumpUnloading_1",
          "instruction_function": {
            "name": "DumpUnloading",
            "robot_ids": [
              "robot_dump_truck_02"
            ],
            "dependencies": [
              "target_area_for_specific_robots_2"
            ],
            "object_keywords": []
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L3-T013",
    "text": "Coordinate Excavator 1 and Dump Truck 1 as one group, and Excavator 2 and Dump Truck 2 as another group to go to Soil Area 1 and Soil Area 2 respectively. After the excavators perform excavation and unloading, the dump trucks go to Puddle 2 to dump the soil.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_01",
              "robot_dump_truck_01"
            ],
            "dependencies": [],
            "object_keywords": [
              "soil1"
            ]
          }
        },
        {
          "task": "Excavation_1",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_1",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "Excavation_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "target_area_for_specific_robots_2",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_02",
              "robot_dump_truck_01"
            ],
            "dependencies": [
              "ExcavatorUnloading_1"
            ],
            "object_keywords": [
              "puddle2"
            ]
          }
        },
        {
          "task": "Excavation_2",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [
              "target_area_for_specific_robots_2"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_2",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [
              "Excavation_2"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "target_area_for_specific_robots_3",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_01"
            ],
            "dependencies": [
              "ExcavatorUnloading_2"
            ],
            "object_keywords": [
              "puddle2"
            ]
          }
        },
        {
          "task": "DumpUnloading_1",
          "instruction_function": {
            "name": "DumpUnloading",
            "robot_ids": [
              "robot_dump_truck_01"
            ],
            "dependencies": [
              "target_area_for_specific_robots_3"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "target_area_for_specific_robots_4",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_02"
            ],
            "dependencies": [
              "ExcavatorUnloading_2"
            ],
            "object_keywords": [
              "puddle2"
            ]
          }
        },
        {
          "task": "DumpUnloading_2",
          "instruction_function": {
            "name": "DumpUnloading",
            "robot_ids": [
              "robot_dump_truck_02"
            ],
            "dependencies": [
              "target_area_for_specific_robots_4"
            ],
            "object_keywords": []
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L3-T014",
    "text": "Excavator 2 goes to Obstacle 1 for excavation and clearing, then returns to the starting position. After Excavator 2 clears Obstacle 1, Dump Truck 1 goes to Puddle 1 to unload, and Dump Truck 2 goes to Puddle 2 to unload.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [],
            "object_keywords": [
              "obstacle1"
            ]
          }
        },
        {
          "task": "Excavation_1",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_1",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [
              "Excavation_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "return_to_start_for_specific_robots_1",
          "instruction_function": {
            "name": "return_to_start_for_specific_robots",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [
              "ExcavatorUnloading_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "target_area_for_specific_robots_2",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_01"
            ],
            "dependencies": [
              "ExcavatorUnloading_1"
            ],
            "object_keywords": [
              "puddle1"
            ]
          }
        },
        {
          "task": "DumpUnloading_1",
          "instruction_function": {
            "name": "DumpUnloading",
            "robot_ids": [
              "robot_dump_truck_01"
            ],
            "dependencies": [
              "target_area_for_specific_robots_2"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "target_area_for_specific_robots_3",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_02"
            ],
            "dependencies": [
              "ExcavatorUnloading_1"
            ],
            "object_keywords": [
              "puddle2"
            ]
          }
        },
        {
          "task": "DumpUnloading_2",
          "instruction_function": {
            "name": "DumpUnloading",
            "robot_ids": [
              "robot_dump_truck_02"
            ],
            "dependencies": [
              "target_area_for_specific_robots_3"
            ],
            "object_keywords": []
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L3-T015",
    "text": "Direct Excavator 1 and Dump Truck 1 to Soil Area 2. After the excavator completes excavation and unloading, Excavator 1 returns to the starting position. Dump Truck 1 goes to Puddle 2 for unloading, then returns to the starting position.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_01",
              "robot_dump_truck_01"
            ],
            "dependencies": [],
            "object_keywords": [
              "soil2"
            ]
          }
        },
        {
          "task": "Excavation_1",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_1",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "Excavation_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "return_to_start_for_specific_robots_1",
          "instruction_function": {
            "name": "return_to_start_for_specific_robots",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "ExcavatorUnloading_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "target_area_for_specific_robots_2",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_01"
            ],
            "dependencies": [
              "ExcavatorUnloading_1"
            ],
            "object_keywords": [
              "puddle2"
            ]
          }
        },
        {
          "task": "DumpUnloading_1",
          "instruction_function": {
            "name": "DumpUnloading",
            "robot_ids": [
              "robot_dump_truck_01"
            ],
            "dependencies": [
              "target_area_for_specific_robots_2"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "return_to_start_for_specific_robots_2",
          "instruction_function": {
            "name": "return_to_start_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_01"
            ],
            "dependencies": [
              "DumpUnloading_1"
            ],
            "object_keywords": []
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L3-T016",
    "text": "Excavator 1 and Dump Truck 3 go to Soil Pile 1 for excavation and unloading. Meanwhile, Excavator 2 goes to Obstacle 2 for excavation to clear the obstacle. After Excavator 1 completes unloading, Dump Truck 1 goes to Puddle 1 for unloading. After completing all tasks, all robots return to the initial position.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_01",
              "robot_dump_truck_03"
            ],
            "dependencies": [],
            "object_keywords": [
              "soil1"
            ]
          }
        },
        {
          "task": "Excavation_1",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_1",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "Excavation_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "target_area_for_specific_robots_2",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_03"
            ],
            "dependencies": [
              "ExcavatorUnloading_1"
            ],
            "object_keywords": [
              "puddle2"
            ]
          }
        },
        {
          "task": "DumpUnloading_1",
          "instruction_function": {
            "name": "DumpUnloading",
            "robot_ids": [
              "robot_dump_truck_03"
            ],
            "dependencies": [
              "target_area_for_specific_robots_2"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "target_area_for_specific_robots_3",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [],
            "object_keywords": [
              "obstacle2"
            ]
          }
        },
        {
          "task": "Excavation_2",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [
              "target_area_for_specific_robots_3"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "return_to_start_for_all_robots_1",
          "instruction_function": {
            "name": "return_to_start_for_all_robots",
            "robot_type": [],
            "dependencies": [
              "DumpUnloading_1",
              "Excavation_2"
            ],
            "object_keywords": []
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L1-T018",
    "text": "Move Excavator 2 to the dumping area near obstacle 1.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [],
            "object_keywords": [
              "obstacle1",
              "dumping_area"
            ]
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L1-T019",
    "text": "Guide Dump Truck 3 to the rock area.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_03"
            ],
            "dependencies": [],
            "object_keywords": [
              "rock1"
            ]
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L1-T020",
    "text": "Send Excavator 1 to soil area 2, then command it to avoid puddle 2.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [],
            "object_keywords": [
              "soil2"
            ]
          }
        },
        {
          "task": "avoid_areas_for_specific_robots_1",
          "instruction_function": {
            "name": "avoid_areas_for_specific_robots",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": [
              "puddle2"
            ]
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L1-T021",
    "text": "Ensure Dump Truck 2 avoids Obstacle 2 and moves to the starting position.",
    "output": {
      "tasks": [
        {
          "task": "avoid_areas_for_specific_robots_1",
          "instruction_function": {
            "name": "avoid_areas_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_02"
            ],
            "dependencies": [],
            "object_keywords": [
              "obstacle2"
            ]
          }
        },
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_02"
            ],
            "dependencies": [
              "avoid_areas_for_specific_robots_1"
            ],
            "object_keywords": [
              "starting_position"
            ]
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L1-T022",
    "text": "Send Excavator 3 to the puddle area, perform excavation.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_03"
            ],
            "dependencies": [],
            "object_keywords": [
              "puddle1"
            ]
          }
        },
        {
          "task": "Excavation_1",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_03"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L1-T023",
    "text": "Guide Dump Truck 1 to soil area 1, proceed to unload.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_01"
            ],
            "dependencies": [],
            "object_keywords": [
              "soil1"
            ]
          }
        },
        {
          "task": "DumpUnloading_1",
          "instruction_function": {
            "name": "DumpUnloading",
            "robot_ids": [
              "robot_dump_truck_01"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L1-T024",
    "text": "Direct Excavator 2 to obstacle 2, perform excavation, then unload.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [],
            "object_keywords": [
              "obstacle2"
            ]
          }
        },
        {
          "task": "Excavation_1",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_1",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [
              "Excavation_1"
            ],
            "object_keywords": []
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L1-T025",
    "text": "Move Excavator 1 to soil area 1, perform excavation, then move to rock area and excavate again.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [],
            "object_keywords": [
              "soil1"
            ]
          }
        },
        {
          "task": "Excavation_1",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "target_area_for_specific_robots_2",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "Excavation_1"
            ],
            "object_keywords": [
              "rock1"
            ]
          }
        },
        {
          "task": "Excavation_2",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "target_area_for_specific_robots_2"
            ],
            "object_keywords": []
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L1-T026",
    "text": "Guide Dump Truck 2 to collect materials at obstacle 1, then proceed to dumping site near soil area 2.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_02"
            ],
            "dependencies": [],
            "object_keywords": [
              "obstacle1"
            ]
          }
        },
        {
          "task": "DumpLoading_1",
          "instruction_function": {
            "name": "DumpLoading",
            "robot_ids": [
              "robot_dump_truck_02"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "target_area_for_specific_robots_2",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_02"
            ],
            "dependencies": [
              "DumpLoading_1"
            ],
            "object_keywords": [
              "soil2",
              "dumping_site"
            ]
          }
        },
        {
          "task": "DumpUnloading_1",
          "instruction_function": {
            "name": "DumpUnloading",
            "robot_ids": [
              "robot_dump_truck_02"
            ],
            "dependencies": [
              "target_area_for_specific_robots_2"
            ],
            "object_keywords": []
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L2-T021",
    "text": "Send Excavator 2 and Dump Truck 1 to the rock area; Excavator 2 will excavate and unload, then Dump Truck 1 proceeds to obstacle 1 for unloading.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_02",
              "robot_dump_truck_01"
            ],
            "dependencies": [],
            "object_keywords": [
              "rock1"
            ]
          }
        },
        {
          "task": "Excavation_1",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_1",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [
              "Excavation_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "target_area_for_specific_robots_2",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_01"
            ],
            "dependencies": [
              "ExcavatorUnloading_1"
            ],
            "object_keywords": [
              "obstacle1"
            ]
          }
        },
        {
          "task": "DumpUnloading_1",
          "instruction_function": {
            "name": "DumpUnloading",
            "robot_ids": [
              "robot_dump_truck_01"
            ],
            "dependencies": [
              "target_area_for_specific_robots_2"
            ],
            "object_keywords": []
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L2-T022",
    "text": "Guide Excavator 3 and Dump Truck 3 to Soil Area 1. Excavator 3 will perform excavation and unloading. Then, both robots avoid Puddle 2 and proceed to Soil Area 2.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_03",
              "robot_dump_truck_03"
            ],
            "dependencies": [],
            "object_keywords": [
              "soil1"
            ]
          }
        },
        {
          "task": "Excavation_1",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_03"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_1",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_03"
            ],
            "dependencies": [
              "Excavation_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "avoid_areas_for_specific_robots_1",
          "instruction_function": {
            "name": "avoid_areas_for_specific_robots",
            "robot_ids": [
              "robot_excavator_03",
              "robot_dump_truck_03"
            ],
            "dependencies": [
              "ExcavatorUnloading_1"
            ],
            "object_keywords": [
              "puddle2"
            ]
          }
        },
        {
          "task": "target_area_for_specific_robots_2",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_03",
              "robot_dump_truck_03"
            ],
            "dependencies": [
              "avoid_areas_for_specific_robots_1"
            ],
            "object_keywords": [
              "soil2"
            ]
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L2-T023",
    "text": "Send Excavator 1 and Dump Truck 3 to Soil Area 2; Excavator 1 will perform excavation and unloading, then Dump Truck 3 returns to the starting position and unloads.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_01",
              "robot_dump_truck_03"
            ],
            "dependencies": [],
            "object_keywords": [
              "soil2"
            ]
          }
        },
        {
          "task": "Excavation_1",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_1",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "Excavation_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "return_to_start_for_specific_robots_1",
          "instruction_function": {
            "name": "return_to_start_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_03"
            ],
            "dependencies": [
              "ExcavatorUnloading_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "DumpUnloading_1",
          "instruction_function": {
            "name": "DumpUnloading",
            "robot_ids": [
              "robot_dump_truck_03"
            ],
            "dependencies": [
              "return_to_start_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L2-T024",
    "text": "Direct Excavator 2 and Dump Truck 3 to Obstacle 1. After excavation and unloading, Dump Truck 3 moves to Puddle 2 for unloading.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_02",
              "robot_dump_truck_03"
            ],
            "dependencies": [],
            "object_keywords": [
              "obstacle1"
            ]
          }
        },
        {
          "task": "Excavation_1",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_1",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [
              "Excavation_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "target_area_for_specific_robots_2",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_03"
            ],
            "dependencies": [
              "ExcavatorUnloading_1"
            ],
            "object_keywords": [
              "puddle2"
            ]
          }
        },
        {
          "task": "DumpUnloading_1",
          "instruction_function": {
            "name": "DumpUnloading",
            "robot_ids": [
              "robot_dump_truck_03"
            ],
            "dependencies": [
              "target_area_for_specific_robots_2"
            ],
            "object_keywords": []
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L2-T025",
    "text": "Excavator 3 and Dump Truck 1 go to Soil Area 3; Excavator 3 performs excavation and unloading, then both return to the starting position, avoiding Obstacle 1.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_03",
              "robot_dump_truck_01"
            ],
            "dependencies": [],
            "object_keywords": [
              "soil3"
            ]
          }
        },
        {
          "task": "Excavation_1",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_03"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_1",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_03"
            ],
            "dependencies": [
              "Excavation_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "avoid_areas_for_specific_robots_1",
          "instruction_function": {
            "name": "avoid_areas_for_specific_robots",
            "robot_ids": [
              "robot_excavator_03",
              "robot_dump_truck_01"
            ],
            "dependencies": [
              "ExcavatorUnloading_1"
            ],
            "object_keywords": [
              "obstacle1"
            ]
          }
        },
        {
          "task": "return_to_start_for_specific_robots_1",
          "instruction_function": {
            "name": "return_to_start_for_specific_robots",
            "robot_ids": [
              "robot_excavator_03",
              "robot_dump_truck_01"
            ],
            "dependencies": [
              "avoid_areas_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L2-T026",
    "text": "Guide Excavator 2 and Dump Truck 2 to Obstacle 2; Excavator 2 performs excavation and unloading, then Dump Truck 2 unloads at Soil 1.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_02",
              "robot_dump_truck_02"
            ],
            "dependencies": [],
            "object_keywords": [
              "obstacle2"
            ]
          }
        },
        {
          "task": "Excavation_1",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_1",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [
              "Excavation_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "target_area_for_specific_robots_2",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_02"
            ],
            "dependencies": [
              "ExcavatorUnloading_1"
            ],
            "object_keywords": [
              "soil1"
            ]
          }
        },
        {
          "task": "DumpUnloading_1",
          "instruction_function": {
            "name": "DumpUnloading",
            "robot_ids": [
              "robot_dump_truck_02"
            ],
            "dependencies": [
              "target_area_for_specific_robots_2"
            ],
            "object_keywords": []
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L3-T017",
    "text": "Coordinate Excavator 1 to perform excavation and unloading to clear Rock 1. Excavator 2 and Dump Truck 3 go to Soil Area 1 simultaneously to carry out excavation and unloading. Then Dump Truck 3 unloads at the puddle.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [],
            "object_keywords": [
              "rock1"
            ]
          }
        },
        {
          "task": "Excavation_1",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_1",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "Excavation_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "target_area_for_specific_robots_2",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_02",
              "robot_dump_truck_03"
            ],
            "dependencies": [],
            "object_keywords": [
              "soil1"
            ]
          }
        },
        {
          "task": "Excavation_2",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [
              "target_area_for_specific_robots_2"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_2",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [
              "Excavation_2"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "target_area_for_specific_robots_3",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_03"
            ],
            "dependencies": [
              "ExcavatorUnloading_2"
            ],
            "object_keywords": [
              "puddle1"
            ]
          }
        },
        {
          "task": "DumpUnloading_1",
          "instruction_function": {
            "name": "DumpUnloading",
            "robot_ids": [
              "robot_dump_truck_03"
            ],
            "dependencies": [
              "target_area_for_specific_robots_3"
            ],
            "object_keywords": []
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L3-T018",
    "text": "Guide Excavator 1 and Dump Truck 1 to Soil Area 1; Excavator 2 and Dump Truck 2 to Soil Area 2. After both groups complete excavation and unloading, proceed to Puddle 1 to dump the soil.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_01",
              "robot_dump_truck_01"
            ],
            "dependencies": [],
            "object_keywords": [
              "soil1"
            ]
          }
        },
        {
          "task": "Excavation_1",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_1",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "Excavation_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "target_area_for_specific_robots_2",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_01"
            ],
            "dependencies": [
              "ExcavatorUnloading_1"
            ],
            "object_keywords": [
              "soil2"
            ]
          }
        },
        {
          "task": "DumpUnloading_1",
          "instruction_function": {
            "name": "DumpUnloading",
            "robot_ids": [
              "robot_dump_truck_01"
            ],
            "dependencies": [
              "target_area_for_specific_robots_2"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "target_area_for_specific_robots_3",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_02",
              "robot_dump_truck_02"
            ],
            "dependencies": [],
            "object_keywords": [
              "soil2"
            ]
          }
        },
        {
          "task": "Excavation_2",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [
              "target_area_for_specific_robots_3"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_2",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [
              "Excavation_2"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "target_area_for_specific_robots_4",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_02"
            ],
            "dependencies": [
              "ExcavatorUnloading_2"
            ],
            "object_keywords": [
              "puddle1"
            ]
          }
        },
        {
          "task": "DumpUnloading_2",
          "instruction_function": {
            "name": "DumpUnloading",
            "robot_ids": [
              "robot_dump_truck_02"
            ],
            "dependencies": [
              "target_area_for_specific_robots_4"
            ],
            "object_keywords": []
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L3-T019",
    "text": "After Excavator 1 completes the excavation and unloading in the rock area, it returns to the starting position. Then, guide Excavator 2 and Dump Truck 1 to Soil Area 1, where the excavator performs excavation and unloading. After that, the dump truck goes to Puddle 1 for unloading.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [],
            "object_keywords": [
              "rock1"
            ]
          }
        },
        {
          "task": "Excavation_1",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_1",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "Excavation_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "return_to_start_for_specific_robots_1",
          "instruction_function": {
            "name": "return_to_start_for_specific_robots",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "ExcavatorUnloading_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "target_area_for_specific_robots_2",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_02",
              "robot_dump_truck_01"
            ],
            "dependencies": [
              "ExcavatorUnloading_1"
            ],
            "object_keywords": [
              "soil1"
            ]
          }
        },
        {
          "task": "Excavation_2",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [
              "target_area_for_specific_robots_2"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_2",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [
              "Excavation_2"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "target_area_for_specific_robots_3",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_01"
            ],
            "dependencies": [
              "ExcavatorUnloading_2"
            ],
            "object_keywords": [
              "puddle1"
            ]
          }
        },
        {
          "task": "DumpUnloading_1",
          "instruction_function": {
            "name": "DumpUnloading",
            "robot_ids": [
              "robot_dump_truck_01"
            ],
            "dependencies": [
              "target_area_for_specific_robots_3"
            ],
            "object_keywords": []
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L3-T020",
    "text": "All robots avoid the puddles. Then coordinate Excavator 1 and Dump Truck 2 to go to Soil Area 2, and Excavator 2 and Dump Truck 3 to go to Soil Area 3. After arrival, the excavators perform excavation and unloading respectively. Then the dump trucks unload the soil into the puddles. After both dump trucks have completed unloading, allow all robots to pass through the puddles.",
    "output": {
      "tasks": [
        {
          "task": "avoid_areas_for_all_robots_1",
          "instruction_function": {
            "name": "avoid_areas_for_all_robots",
            "robot_ids": [],
            "dependencies": [],
            "object_keywords": [
              "puddle1"
            ]
          }
        },
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_01",
              "robot_dump_truck_02"
            ],
            "dependencies": [],
            "object_keywords": [
              "soil2"
            ]
          }
        },
        {
          "task": "Excavation_1",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_1",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "Excavation_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "target_area_for_specific_robots_2",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_02"
            ],
            "dependencies": [
              "ExcavatorUnloading_1"
            ],
            "object_keywords": [
              "puddle1"
            ]
          }
        },
        {
          "task": "DumpUnloading_1",
          "instruction_function": {
            "name": "DumpUnloading",
            "robot_ids": [
              "robot_dump_truck_02"
            ],
            "dependencies": [
              "target_area_for_specific_robots_2"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "target_area_for_specific_robots_3",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_02",
              "robot_dump_truck_03"
            ],
            "dependencies": [],
            "object_keywords": [
              "soil3"
            ]
          }
        },
        {
          "task": "Excavation_2",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [
              "target_area_for_specific_robots_3"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_2",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [
              "Excavation_2"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "target_area_for_specific_robots_4",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_03"
            ],
            "dependencies": [
              "ExcavatorUnloading_2"
            ],
            "object_keywords": [
              "puddle2"
            ]
          }
        },
        {
          "task": "DumpUnloading_2",
          "instruction_function": {
            "name": "DumpUnloading",
            "robot_ids": [
              "robot_dump_truck_03"
            ],
            "dependencies": [
              "target_area_for_specific_robots_4"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "allow_all_robots_to_pass_puddles",
          "instruction_function": {
            "name": "allow_all_robots_to_pass_puddles",
            "robot_ids": [],
            "dependencies": [
              "DumpUnloading_1",
              "DumpUnloading_2"
            ],
            "object_keywords": []
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L1-T027",
    "text": "Move Excavator 3 to the obstacle area.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_03"
            ],
            "dependencies": [],
            "object_keywords": [
              "obstacle1"
            ]
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L1-T028",
    "text": "Guide Dump Truck 1 to the puddle area, then command it to avoid puddle area.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_01"
            ],
            "dependencies": [],
            "object_keywords": [
              "puddle1"
            ]
          }
        },
        {
          "task": "avoid_areas_for_specific_robots_1",
          "instruction_function": {
            "name": "avoid_areas_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_01"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": [
              "puddle1"
            ]
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L1-T029",
    "text": "Send Excavator 2 to rock area 2.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [],
            "object_keywords": [
              "rock2"
            ]
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L1-T030",
    "text": "Make sure that Dump Truck 3 avoids obstacle 2 and moves to soil area 3.",
    "output": {
      "tasks": [
        {
          "task": "avoid_areas_for_specific_robots_1",
          "instruction_function": {
            "name": "avoid_areas_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_03"
            ],
            "dependencies": [],
            "object_keywords": [
              "obstacle2"
            ]
          }
        },
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_03"
            ],
            "dependencies": [
              "avoid_areas_for_specific_robots_1"
            ],
            "object_keywords": [
              "soil3"
            ]
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L1-T031",
    "text": "Send Excavator 1 to puddle 2, perform excavation.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [],
            "object_keywords": [
              "puddle2"
            ]
          }
        },
        {
          "task": "Excavation_1",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L1-T032",
    "text": "Guide Dump Truck 2 to obstacle 1, proceed to unload.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_02"
            ],
            "dependencies": [],
            "object_keywords": [
              "obstacle1"
            ]
          }
        },
        {
          "task": "DumpUnloading_1",
          "instruction_function": {
            "name": "DumpUnloading",
            "robot_ids": [
              "robot_dump_truck_02"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L1-T033",
    "text": "Direct Excavator 3 to soil area 2, perform excavation, then unload.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_03"
            ],
            "dependencies": [],
            "object_keywords": [
              "soil2"
            ]
          }
        },
        {
          "task": "Excavation_1",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_03"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_1",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_03"
            ],
            "dependencies": [
              "Excavation_1"
            ],
            "object_keywords": []
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L1-T034",
    "text": "Move Excavator 2 to soil area 2, perform excavation, then move to puddle 1.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [],
            "object_keywords": [
              "soil2"
            ]
          }
        },
        {
          "task": "Excavation_1",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "target_area_for_specific_robots_2",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [
              "Excavation_1"
            ],
            "object_keywords": [
              "puddle1"
            ]
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L1-T035",
    "text": "Guide Dump Truck 2 to the rock area for loading, then proceed to Obstacle 2.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_02"
            ],
            "dependencies": [],
            "object_keywords": [
              "rock1"
            ]
          }
        },
        {
          "task": "DumpLoading_1",
          "instruction_function": {
            "name": "DumpLoading",
            "robot_ids": [
              "robot_dump_truck_02"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "target_area_for_specific_robots_2",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_02"
            ],
            "dependencies": [
              "DumpLoading_1"
            ],
            "object_keywords": [
              "obstacle2"
            ]
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L1-T036",
    "text": "Send Excavator 1 to obstacle 1, perform excavation, and return to starting position.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [],
            "object_keywords": [
              "obstacle1"
            ]
          }
        },
        {
          "task": "Excavation_1",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "return_to_start_for_specific_robots_1",
          "instruction_function": {
            "name": "return_to_start_for_specific_robots",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "Excavation_1"
            ],
            "object_keywords": []
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L2-T027",
    "text": "Send Excavator 2 and Dump Truck 3 to Soil Area 2; Excavator 2 will perform excavation and unloading, then Dump Truck 3 goes to Puddle 2 for unloading.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_02",
              "robot_dump_truck_03"
            ],
            "dependencies": [],
            "object_keywords": [
              "soil2"
            ]
          }
        },
        {
          "task": "Excavation_1",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_1",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [
              "Excavation_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "target_area_for_specific_robots_2",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_03"
            ],
            "dependencies": [
              "ExcavatorUnloading_1"
            ],
            "object_keywords": [
              "puddle2"
            ]
          }
        },
        {
          "task": "DumpUnloading_1",
          "instruction_function": {
            "name": "DumpUnloading",
            "robot_ids": [
              "robot_dump_truck_03"
            ],
            "dependencies": [
              "target_area_for_specific_robots_2"
            ],
            "object_keywords": []
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L2-T028",
    "text": "Guide Excavator 1 and Dump Truck 2 to the rock area; Excavator 1 will perform excavation and unloading, then Dump Truck 2 unloads at the starting position.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_01",
              "robot_dump_truck_02"
            ],
            "dependencies": [],
            "object_keywords": [
              "rock1"
            ]
          }
        },
        {
          "task": "Excavation_1",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_1",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "Excavation_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "return_to_start_for_specific_robots_1",
          "instruction_function": {
            "name": "return_to_start_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_02"
            ],
            "dependencies": [
              "ExcavatorUnloading_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "DumpUnloading_1",
          "instruction_function": {
            "name": "DumpUnloading",
            "robot_ids": [
              "robot_dump_truck_02"
            ],
            "dependencies": [
              "return_to_start_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L2-T029",
    "text": "Move Excavator 3 and Dump Truck 1 to Puddle 2; Excavator 3 will perform excavation, then Dump Truck 1 goes to Soil Area 2 for unloading.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_03",
              "robot_dump_truck_01"
            ],
            "dependencies": [],
            "object_keywords": [
              "puddle2"
            ]
          }
        },
        {
          "task": "Excavation_1",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_03"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_1",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_03"
            ],
            "dependencies": [
              "Excavation_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "target_area_for_specific_robots_2",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_01"
            ],
            "dependencies": [
              "ExcavatorUnloading_1"
            ],
            "object_keywords": [
              "soil2"
            ]
          }
        },
        {
          "task": "DumpUnloading_1",
          "instruction_function": {
            "name": "DumpUnloading",
            "robot_ids": [
              "robot_dump_truck_01"
            ],
            "dependencies": [
              "target_area_for_specific_robots_2"
            ],
            "object_keywords": []
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L2-T030",
    "text": "Move Excavator 2 to Obstacle 1. All robots avoid Obstacle 1. Then Excavator 2 goes to Puddle 1 for inspection. All robots avoid Puddle 1. Then Excavator 2 returns to the starting position.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_02",
              "robot_dump_truck_02"
            ],
            "dependencies": [],
            "object_keywords": [
              "obstacle1"
            ]
          }
        },
        {
          "task": "avoid_areas_for_all_robots_1",
          "instruction_function": {
            "name": "avoid_areas_for_all_robots",
            "robot_type": [],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": [
              "obstacle1"
            ]
          }
        },
        {
          "task": "target_area_for_specific_robots_2",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [
              "avoid_areas_for_all_robots_1"
            ],
            "object_keywords": [
              "puddle1"
            ]
          }
        },
        {
          "task": "avoid_areas_for_all_robots_2",
          "instruction_function": {
            "name": "avoid_areas_for_all_robots",
            "robot_type": [],
            "dependencies": [
              "target_area_for_specific_robots_2"
            ],
            "object_keywords": [
              "puddle1"
            ]
          }
        },
        {
          "task": "return_to_start_for_specific_robots_1",
          "instruction_function": {
            "name": "return_to_start_for_specific_robots",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [
              "avoid_areas_for_all_robots_2"
            ],
            "object_keywords": []
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L2-T031",
    "text": "Excavator 3 and Dump Truck 3 go to Soil Area 1. After the excavator completes excavation and unloading, both avoid Obstacle 1 and then proceed to Puddle 1.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_03",
              "robot_dump_truck_03"
            ],
            "dependencies": [],
            "object_keywords": [
              "soil1"
            ]
          }
        },
        {
          "task": "Excavation_1",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_03"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_1",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_03"
            ],
            "dependencies": [
              "Excavation_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "avoid_areas_for_specific_robots_1",
          "instruction_function": {
            "name": "avoid_areas_for_specific_robots",
            "robot_ids": [
              "robot_excavator_03",
              "robot_dump_truck_03"
            ],
            "dependencies": [
              "ExcavatorUnloading_1"
            ],
            "object_keywords": [
              "obstacle1"
            ]
          }
        },
        {
          "task": "target_area_for_specific_robots_2",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_03",
              "robot_dump_truck_03"
            ],
            "dependencies": [
              "avoid_areas_for_specific_robots_1"
            ],
            "object_keywords": [
              "puddle1"
            ]
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L2-T032",
    "text": "Guide Excavator 1 and Dump Truck 1 to Obstacle 2. Excavator 1 performs excavation and unloading, then Dump Truck 1 unloads at the starting position. Then Excavator 1 goes to the puddle.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_01",
              "robot_dump_truck_01"
            ],
            "dependencies": [],
            "object_keywords": [
              "obstacle2"
            ]
          }
        },
        {
          "task": "Excavation_1",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_1",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "Excavation_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "return_to_start_for_specific_robots_1",
          "instruction_function": {
            "name": "return_to_start_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_01"
            ],
            "dependencies": [
              "ExcavatorUnloading_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "DumpUnloading_1",
          "instruction_function": {
            "name": "DumpUnloading",
            "robot_ids": [
              "robot_dump_truck_01"
            ],
            "dependencies": [
              "return_to_start_for_specific_robots_1"
            ],
            "object_keywords": [
              "location1"
            ]
          }
        },
        {
          "task": "target_area_for_specific_robots_2",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "DumpUnloading_1"
            ],
            "object_keywords": [
              "puddle1"
            ]
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L3-T021",
    "text": "Let Excavator 2 and Excavator 3 go to Obstacle 1 and Obstacle 2 respectively. After arriving at the targets, perform excavation and unloading respectively.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [],
            "object_keywords": [
              "obstacle1"
            ]
          }
        },
        {
          "task": "target_area_for_specific_robots_2",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_03"
            ],
            "dependencies": [],
            "object_keywords": [
              "obstacle2"
            ]
          }
        },
        {
          "task": "Excavation_1",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "Excavation_2",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_03"
            ],
            "dependencies": [
              "target_area_for_specific_robots_2"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_1",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [
              "Excavation_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_2",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_03"
            ],
            "dependencies": [
              "Excavation_2"
            ],
            "object_keywords": []
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L3-T022",
    "text": "All robots avoid Puddle 1, then guide Excavator 1 and Dump Truck 2 to Soil Area 3. After the excavator completes excavation and unloading, the dump truck goes to the puddle for unloading. After that, all robots no longer need to avoid Puddle 1.",
    "output": {
      "tasks": [
        {
          "task": "avoid_areas_for_all_robots_1",
          "instruction_function": {
            "name": "avoid_areas_for_all_robots",
            "robot_type": [],
            "dependencies": [],
            "object_keywords": [
              "puddle1"
            ]
          }
        },
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_01",
              "robot_dump_truck_02"
            ],
            "dependencies": [
              "avoid_areas_for_all_robots_1"
            ],
            "object_keywords": [
              "soil3"
            ]
          }
        },
        {
          "task": "Excavation_1",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_1",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "Excavation_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "target_area_for_specific_robots_2",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_02"
            ],
            "dependencies": [
              "ExcavatorUnloading_1"
            ],
            "object_keywords": [
              "puddle1"
            ]
          }
        },
        {
          "task": "DumpUnloading_1",
          "instruction_function": {
            "name": "DumpUnloading",
            "robot_ids": [
              "robot_dump_truck_02"
            ],
            "dependencies": [
              "target_area_for_specific_robots_2"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "allow_areas_for_all_robots_1",
          "instruction_function": {
            "name": "allow_areas_for_all_robots",
            "robot_type": [],
            "dependencies": [
              "DumpUnloading_1"
            ],
            "object_keywords": [
              "puddle1"
            ]
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L1-T037",
    "text": "After Excavator 3 avoids Rock Area 1, move to Soil Area 1.",
    "output": {
      "tasks": [
        {
          "task": "avoid_areas_for_specific_robots_1",
          "instruction_function": {
            "name": "avoid_areas_for_specific_robots",
            "robot_ids": [
              "robot_excavator_03"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": [
              "rock1"
            ]
          }
        },
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_03"
            ],
            "dependencies": [
              "avoid_areas_for_specific_robots_1"
            ],
            "object_keywords": [
              "soil1"
            ]
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L1-T038",
    "text": "Guide Dump Truck 1 to the starting position, then command it to proceed to obstacle 2.",
    "output": {
      "tasks": [
        {
          "task": "return_to_start_for_specific_robots_1",
          "instruction_function": {
            "name": "return_to_start_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_01"
            ],
            "dependencies": [],
            "object_keywords": []
          }
        },
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_01"
            ],
            "dependencies": [
              "return_to_start_for_specific_robots_1"
            ],
            "object_keywords": [
              "obstacle2"
            ]
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L1-T039",
    "text": "Avoid soil area 2 and send Excavator 1 to the puddle area.",
    "output": {
      "tasks": [
        {
          "task": "avoid_areas_for_specific_robots_1",
          "instruction_function": {
            "name": "avoid_areas_for_specific_robots",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [],
            "object_keywords": [
              "soil2"
            ]
          }
        },
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "avoid_areas_for_specific_robots_1"
            ],
            "object_keywords": [
              "puddle1"
            ]
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L1-T040",
    "text": "Direct Dump Truck 2 to rock area 1, then avoid puddle 2.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_02"
            ],
            "dependencies": [],
            "object_keywords": [
              "rock1"
            ]
          }
        },
        {
          "task": "avoid_areas_for_specific_robots_1",
          "instruction_function": {
            "name": "avoid_areas_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_02"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": [
              "puddle2"
            ]
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L1-T041",
    "text": "Send Excavator 3 to obstacle 2, perform excavation.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_03"
            ],
            "dependencies": [],
            "object_keywords": [
              "obstacle2"
            ]
          }
        },
        {
          "task": "Excavation_1",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_03"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L1-T042",
    "text": "Guide Dump Truck 3 to soil area 2, proceed to unload.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_03"
            ],
            "dependencies": [],
            "object_keywords": [
              "soil2"
            ]
          }
        },
        {
          "task": "DumpUnloading_1",
          "instruction_function": {
            "name": "DumpUnloading",
            "robot_ids": [
              "robot_dump_truck_03"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L1-T043",
    "text": "Direct Excavator 2 to soil area 1, perform excavation, then unload.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [],
            "object_keywords": [
              "soil1"
            ]
          }
        },
        {
          "task": "Excavation_1",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_1",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [
              "Excavation_1"
            ],
            "object_keywords": []
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L1-T044",
    "text": "Move Excavator 3 to puddle 2, perform excavation, then move to soil area 1.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_03"
            ],
            "dependencies": [],
            "object_keywords": [
              "puddle2"
            ]
          }
        },
        {
          "task": "Excavation_1",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_03"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "target_area_for_specific_robots_2",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_03"
            ],
            "dependencies": [
              "avoid_areas_for_specific_robots_1"
            ],
            "object_keywords": [
              "soil1"
            ]
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L1-T045",
    "text": "Guide Dump Truck 1 to collect materials at soil area 2, then move to puddle 2.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_01"
            ],
            "dependencies": [],
            "object_keywords": [
              "soil2"
            ]
          }
        },
        {
          "task": "DumpLoading_1",
          "instruction_function": {
            "name": "DumpLoading",
            "robot_ids": [
              "robot_dump_truck_01"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "target_area_for_specific_robots_2",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_01"
            ],
            "dependencies": [
              "DumpLoading_1"
            ],
            "object_keywords": [
              "puddle2"
            ]
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L1-T046",
    "text": "Send Excavator 2 to the rock area 1, perform excavation, and return to starting position.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [],
            "object_keywords": [
              "rock1"
            ]
          }
        },
        {
          "task": "Excavation_1",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "return_to_start_for_specific_robots_1",
          "instruction_function": {
            "name": "return_to_start_for_specific_robots",
            "robot_ids": [
              "robot_excavator_02"
            ],
            "dependencies": [
              "Excavation_1"
            ],
            "object_keywords": []
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L1-T047",
    "text": "Move Dump Truck 3 to obstacle 2, then move it to obstacle 1.",
    "output": {
      "tasks": [
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_03"
            ],
            "dependencies": [],
            "object_keywords": [
              "obstacle2"
            ]
          }
        },
        {
          "task": "target_area_for_specific_robots_2",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_dump_truck_03"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": [
              "obstacle1"
            ]
          }
        }
      ]
    }
  },
  {
    "ID": "dart_llm-L2-T033",
    "text": "Avoid Rock Area 1 with Excavator 1 and Dump Truck 3, go to Puddle 1, then Excavator 1 will perform excavation and unloading.",
    "output": {
      "tasks": [
        {
          "task": "avoid_areas_for_specific_robots_1",
          "instruction_function": {
            "name": "avoid_areas_for_specific_robots",
            "robot_ids": [
              "robot_excavator_01",
              "robot_dump_truck_03"
            ],
            "dependencies": [],
            "object_keywords": [
              "rock1"
            ]
          }
        },
        {
          "task": "target_area_for_specific_robots_1",
          "instruction_function": {
            "name": "target_area_for_specific_robots",
            "robot_ids": [
              "robot_excavator_01",
              "robot_dump_truck_03"
            ],
            "dependencies": [
              "avoid_areas_for_specific_robots_1"
            ],
            "object_keywords": [
              "puddle1"
            ]
          }
        },
        {
          "task": "Excavation_1",
          "instruction_function": {
            "name": "Excavation",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "target_area_for_specific_robots_1"
            ],
            "object_keywords": []
          }
        },
        {
          "task": "ExcavatorUnloading_1",
          "instruction_function": {
            "name": "ExcavatorUnloading",
            "robot_ids": [
              "robot_excavator_01"
            ],
            "dependencies": [
              "Excavation_1"
            ],
            "object_keywords": []
          }
        }
      ]
    }
  }
]