Systems and methods to perform a downhole operations in a borehole comprising moving, using surface equipment, an inner structure and an outer structure within the borehole, the outer structure equipped with an interaction device and the inner structure configured to be moved relative to the outer structure in a direction parallel to the borehole by the surface equipment, transmitting, by a transmitter, a downlink instruction to the inner structure, and performing an interaction routine with the interaction device in response to the downlink instruction, wherein the interaction routine comprises an interaction at least partially outside of the outer structure to perform the downhole operation.