Action("pick", [frame_name])
Grab the frame with name frame_name.

Action("place", [x, y, z, rot_x, rot_y, rot_z])
Place grasped object at pose x, y, z, rot_x, rot_y, rot_z. If any of the rotations is set to None, it will not constrain the object to have a specific rotation in that axis.

Action("push_motion", [start_x, start_y, end_x, end_y])
Perform a push motion along the straight 2D path defined by the start and end points.