Dataset For Sensor Inputs(ultrasonic, Infrared,etc) Vs Outputs(resulting Function Calls)

Hi everyone! I am fine tuning an LLM so that it is capable of decision making and function calling in robotics and AIoT applications. So for this I need a dataset that contains inputs from various different types of sensors and outputs which can be maybe moving motor by a certain angle or using an API to send notifications, etc. So are there any such datasets?