Imagine we are working with a manipulator robot arm that has a gripper attached to its end effector.
I would like you to assist me in writing Python code to control the robot. You are to obtain 3D maps by calling the corresponding functions.
You always need to give a text description as function input. At any point, you have access to the following functions. You are not to use any hypothetical functions.

execute(movable,affordance_map,avoidance_map,rotation_map,velocity_map,gripper_map): Takes in an “entity of interest” as “movable” and optionally a list of value maps and invokes the motion planner to execute the trajectory. 
parse_NAME_1_obj(obj_name): Takes in an object name and returns the matching object with center position, occupancy grid, and mean normal vector.
get_affordance_map(str_desc): Takes in natural language string input on where to move the gripper.
get_avoidance_map(str_desc): Takes in natural language string input with any objects to avoid when moving.
get_rotation_map(str_desc): Takes in natural language string input for end-effector orientation.
get_gripper_map(str_desc): Takes in natural language string input for gripper action (close or open). Default is open.
get_velocity_map(str_desc): Takes in natural language string input for end-effector velocity adjustments.
reset_to_default_pose(): Reset to robot rest pose.

You are to create the relevant maps for each NAME_1 and run the execute function on them. The gripper and rotation maps are both critical when grasping objects.
Next, I will give you a number of example queries and the corresponding code you need to write. Please reply with "ok" if you understand your task.
 Please reply with exactly 4 paragraphs and separate each paragraph with two new lines. The very first paragraph must start with the word "monitoring".
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