Imagine we are working with a manipulator robot. This is a robotic 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: 
affordance map for where to move the gripper, avoidance map for any objects to avoid, rotation map for the orientation of the gripper,
gripper map for where to open and close the gripper, and velocity map if the velocity is to be adjusted from the normal speed.
The maps are to be created using the provided functions with a string description of how the map should be configured.

At any point, you have access to the following functions. You always need to give a text description as function input.

execute(movable,affordance_map,avoidance_map,rotation_map,velocity_map,gripper_map): Takes in an “entity of interest” as “movable” (a dictionary returned by detect) and (optionally) a list of value maps and invokes the motion planner to execute the trajectory. Note that in MPC settings, “movable” and the input value maps are functions that can be re-evaluated to reflect the latest environment observation
parse_NAME_1_obj(obj_name): Takes in an object name and returns a list of dictionaries, where each dictionary corresponds to one instance of the matching object, containing center position, occupancy grid, and mean normal vector.
get_affordance_map(str_desc): Takes in natural language parametrization and returns a NumPy array for task affordance map.
get_avoidance_map(str_desc): Takes in natural language parametrization and returns a NumPy array for task avoidance map.
get_rotation_map(str_desc): Takes in natural language parametrization and returns a NumPy array for end-effector rotation map.
get_gripper_map(str_desc): Takes in natural language parametrization and returns a NumPy array for gripper action map.
get_velocity_map(str_desc): Takes in natural language parametrization and returns a NumPy array for end-effector velocity map.
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. You are not to use any hypothetical functions. All units are in the SI system.
Each task description is preceded by a "# NAME_1:" tag.

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. In your entire response, the letter x should appear less than 29.
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