Source_Obj stringlengths 38 56 | Target_Obj stringlengths 38 56 | Thinking stringlengths 565 706 | Object stringlengths 143 291 | instruction stringlengths 41 76 | solution listlengths 6 6 | Conversation listlengths 2 2 |
|---|---|---|---|---|---|---|
[{"<|black|><|star|>": ["<|19-22|>", 18]}] | [{"<|gray|><|container|>": ["<|16-19|>", 18]}] | LOCATE OBJECTS:
Target Object: <|black|><|star|> found at <|19-22|> with height 18
Target Placement Location: <|gray|><|container|> at <|16-19|> with height 18
PLAN ACTIONS:
Step 1: Move above <|black|><|star|> at <|19-22|> with height 30
Step 2: Lower to <|black|><|star|> at <|19-22|> with height 18
Step 3: Close grip... | [{"teal-cube": [76, 51, 17]}, {"teal-triangular prism": [23, 82, 17]}, {"black-star": [89, 79, 18]}, {"lime-cube": [49, 59, 18]}, {"violet-moon": [51, 76, 18]}, {"gray-container": [77, 64, 18]}, {"azure-cube": [44, 32, 18]}] | Pick up the black star and place it into the gray container | [
[
89,
79,
30,
0,
60,
90,
1
],
[
89,
79,
18,
0,
60,
90,
1
],
[
89,
79,
18,
0,
60,
90,
0
],
[
89,
79,
30,
0,
60,
90,
0
],
[
77,
64,
30,
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60,
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0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|cyan|><|star|>": ["<|22-17|>", 17]}] | [{"<|olive|><|triangular prism|>": ["<|5-9|>", 17]}] | LOCATE OBJECTS:
Target Object: <|cyan|><|star|> found at <|22-17|> with height 17
Target Placement Location: <|olive|><|triangular prism|> at <|5-9|> with height 17
PLAN ACTIONS:
Step 1: Move above <|cyan|><|star|> at <|22-17|> with height 30
Step 2: Lower to <|cyan|><|star|> at <|22-17|> with height 17
Step 3: Close g... | [{"violet-moon": [87, 62, 17]}, {"yellow-cylinder": [26, 60, 17]}, {"lime-star": [61, 82, 17]}, {"maroon-cube": [49, 58, 17]}, {"silver-star": [71, 29, 18]}, {"cyan-star": [68, 89, 17]}, {"olive-triangular prism": [38, 21, 17]}] | Stack the cyan star on top of the olive triangular prism | [
[
68,
89,
30,
0,
60,
90,
1
],
[
68,
89,
17,
0,
60,
90,
1
],
[
68,
89,
17,
0,
60,
90,
0
],
[
68,
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30,
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[
38,
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[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|lime|><|cube|>": ["<|16-5|>", 18]}] | [{"<|teal|><|cube|>": ["<|9-2|>", 18]}] | LOCATE OBJECTS:
Target Object: <|lime|><|cube|> found at <|16-5|> with height 18
Target Placement Location: <|teal|><|cube|> at <|9-2|> with height 18
PLAN ACTIONS:
Step 1: Move above <|lime|><|cube|> at <|16-5|> with height 30
Step 2: Lower to <|lime|><|cube|> at <|16-5|> with height 18
Step 3: Close gripper on <|lime... | [{"azure-moon": [32, 71, 17]}, {"blue-moon": [78, 84, 17]}, {"lime-moon": [90, 26, 17]}, {"teal-cube": [10, 39, 18]}, {"lime-cube": [22, 66, 18]}, {"red-triangular prism": [65, 33, 17]}] | Stack the lime cube on top of the teal cube | [
[
22,
66,
30,
0,
60,
90,
1
],
[
22,
66,
18,
0,
60,
90,
1
],
[
22,
66,
18,
0,
60,
90,
0
],
[
22,
66,
30,
0,
60,
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0
],
[
10,
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60,
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0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|yellow|><|cylinder|>": ["<|19-12|>", 18]}] | [{"<|teal|><|moon|>": ["<|8-22|>", 18]}] | LOCATE OBJECTS:
Target Object: <|yellow|><|cylinder|> found at <|19-12|> with height 18
Target Placement Location: <|teal|><|moon|> at <|8-22|> with height 18
PLAN ACTIONS:
Step 1: Move above <|yellow|><|cylinder|> at <|19-12|> with height 30
Step 2: Lower to <|yellow|><|cylinder|> at <|19-12|> with height 18
Step 3: C... | [{"teal-cylinder": [31, 27, 18]}, {"yellow-cylinder": [48, 79, 18]}, {"lime-cylinder": [53, 60, 17]}, {"teal-moon": [89, 32, 18]}, {"azure-triangular prism": [51, 62, 18]}, {"black-star": [78, 46, 18]}, {"gray-cube": [83, 72, 18]}] | Stack the yellow cylinder on top of the teal moon | [
[
48,
79,
30,
0,
60,
90,
1
],
[
48,
79,
18,
0,
60,
90,
1
],
[
48,
79,
18,
0,
60,
90,
0
],
[
48,
79,
30,
0,
60,
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0
],
[
89,
32,
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60,
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],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|olive|><|star|>": ["<|13-18|>", 17]}] | [{"<|cyan|><|container|>": ["<|14-7|>", 18]}] | LOCATE OBJECTS:
Target Object: <|olive|><|star|> found at <|13-18|> with height 17
Target Placement Location: <|cyan|><|container|> at <|14-7|> with height 18
PLAN ACTIONS:
Step 1: Move above <|olive|><|star|> at <|13-18|> with height 30
Step 2: Lower to <|olive|><|star|> at <|13-18|> with height 17
Step 3: Close gripp... | [{"magenta-cylinder": [40, 50, 17]}, {"cyan-container": [31, 56, 18]}, {"green-triangular prism": [59, 40, 18]}, {"blue-cube": [77, 45, 18]}, {"rose-cylinder": [55, 55, 18]}, {"olive-star": [72, 53, 17]}] | Pick up the olive star and place it into the cyan container | [
[
72,
53,
30,
0,
60,
90,
1
],
[
72,
53,
17,
0,
60,
90,
1
],
[
72,
53,
17,
0,
60,
90,
0
],
[
72,
53,
30,
0,
60,
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0
],
[
31,
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30,
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60,
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],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|yellow|><|cylinder|>": ["<|17-8|>", 18]}] | [{"<|rose|><|cylinder|>": ["<|4-18|>", 18]}] | LOCATE OBJECTS:
Target Object: <|yellow|><|cylinder|> found at <|17-8|> with height 18
Target Placement Location: <|rose|><|cylinder|> at <|4-18|> with height 18
PLAN ACTIONS:
Step 1: Move above <|yellow|><|cylinder|> at <|17-8|> with height 30
Step 2: Lower to <|yellow|><|cylinder|> at <|17-8|> with height 18
Step 3: ... | [{"rose-cylinder": [73, 17, 18]}, {"olive-triangular prism": [29, 42, 17]}, {"maroon-moon": [83, 32, 18]}, {"yellow-cylinder": [33, 71, 18]}, {"violet-cylinder": [46, 30, 17]}, {"silver-star": [74, 32, 17]}] | Stack the yellow cylinder on top of the rose cylinder | [
[
33,
71,
30,
0,
60,
90,
1
],
[
33,
71,
18,
0,
60,
90,
1
],
[
33,
71,
18,
0,
60,
90,
0
],
[
33,
71,
30,
0,
60,
90,
0
],
[
73,
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],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|silver|><|triangular prism|>": ["<|17-5|>", 17]}] | [{"<|cyan|><|cylinder|>": ["<|19-19|>", 18]}] | LOCATE OBJECTS:
Target Object: <|silver|><|triangular prism|> found at <|17-5|> with height 17
Target Placement Location: <|cyan|><|cylinder|> at <|19-19|> with height 18
PLAN ACTIONS:
Step 1: Move above <|silver|><|triangular prism|> at <|17-5|> with height 30
Step 2: Lower to <|silver|><|triangular prism|> at <|17-5|... | [{"violet-cube": [50, 53, 18]}, {"cyan-cylinder": [76, 79, 18]}, {"red-cube": [42, 47, 17]}, {"silver-triangular prism": [23, 68, 17]}, {"gray-triangular prism": [86, 54, 18]}, {"lime-star": [88, 76, 18]}] | Stack the silver triangular prism on top of the cyan cylinder | [
[
23,
68,
30,
0,
60,
90,
1
],
[
23,
68,
17,
0,
60,
90,
1
],
[
23,
68,
17,
0,
60,
90,
0
],
[
23,
68,
30,
0,
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0
],
[
76,
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],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|yellow|><|moon|>": ["<|11-12|>", 17]}] | [{"<|magenta|><|cylinder|>": ["<|15-6|>", 18]}] | LOCATE OBJECTS:
Target Object: <|yellow|><|moon|> found at <|11-12|> with height 17
Target Placement Location: <|magenta|><|cylinder|> at <|15-6|> with height 18
PLAN ACTIONS:
Step 1: Move above <|yellow|><|moon|> at <|11-12|> with height 30
Step 2: Lower to <|yellow|><|moon|> at <|11-12|> with height 17
Step 3: Close ... | [{"lime-moon": [51, 66, 17]}, {"yellow-moon": [51, 44, 17]}, {"teal-triangular prism": [64, 82, 18]}, {"magenta-cylinder": [26, 60, 18]}, {"magenta-triangular prism": [31, 41, 18]}] | Stack the yellow moon on top of the magenta cylinder | [
[
51,
44,
30,
0,
60,
90,
1
],
[
51,
44,
17,
0,
60,
90,
1
],
[
51,
44,
17,
0,
60,
90,
0
],
[
51,
44,
30,
0,
60,
90,
0
],
[
26,
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30,
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60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|silver|><|cube|>": ["<|22-16|>", 18]}] | [{"<|black|><|container|>": ["<|12-12|>", 17]}] | LOCATE OBJECTS:
Target Object: <|silver|><|cube|> found at <|22-16|> with height 18
Target Placement Location: <|black|><|container|> at <|12-12|> with height 17
PLAN ACTIONS:
Step 1: Move above <|silver|><|cube|> at <|22-16|> with height 30
Step 2: Lower to <|silver|><|cube|> at <|22-16|> with height 18
Step 3: Close ... | [{"silver-cube": [65, 90, 18]}, {"azure-triangular prism": [27, 41, 17]}, {"rose-moon": [24, 72, 17]}, {"yellow-star": [54, 44, 17]}, {"black-container": [50, 50, 17]}] | Pick up the silver cube and place it into the black container | [
[
65,
90,
30,
0,
60,
90,
1
],
[
65,
90,
18,
0,
60,
90,
1
],
[
65,
90,
18,
0,
60,
90,
0
],
[
65,
90,
30,
0,
60,
90,
0
],
[
50,
50,
30,
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60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|olive|><|star|>": ["<|19-14|>", 17]}] | [{"<|olive|><|container|>": ["<|3-11|>", 19]}] | LOCATE OBJECTS:
Target Object: <|olive|><|star|> found at <|19-14|> with height 17
Target Placement Location: <|olive|><|container|> at <|3-11|> with height 19
PLAN ACTIONS:
Step 1: Move above <|olive|><|star|> at <|19-14|> with height 30
Step 2: Lower to <|olive|><|star|> at <|19-14|> with height 17
Step 3: Close grip... | [{"gray-triangular prism": [53, 23, 17]}, {"navy-star": [89, 79, 17]}, {"olive-container": [45, 15, 19]}, {"olive-star": [57, 76, 17]}, {"blue-triangular prism": [26, 72, 18]}, {"maroon-cylinder": [74, 78, 17]}] | Pick up the olive star and place it into the olive container | [
[
57,
76,
30,
0,
60,
90,
1
],
[
57,
76,
17,
0,
60,
90,
1
],
[
57,
76,
17,
0,
60,
90,
0
],
[
57,
76,
30,
0,
60,
90,
0
],
[
45,
15,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|maroon|><|cube|>": ["<|22-17|>", 17]}] | [{"<|magenta|><|container|>": ["<|9-9|>", 18]}] | LOCATE OBJECTS:
Target Object: <|maroon|><|cube|> found at <|22-17|> with height 17
Target Placement Location: <|magenta|><|container|> at <|9-9|> with height 18
PLAN ACTIONS:
Step 1: Move above <|maroon|><|cube|> at <|22-17|> with height 30
Step 2: Lower to <|maroon|><|cube|> at <|22-17|> with height 17
Step 3: Close ... | [{"magenta-container": [36, 37, 18]}, {"red-star": [46, 81, 17]}, {"maroon-cube": [68, 88, 17]}, {"navy-cylinder": [40, 30, 18]}, {"yellow-triangular prism": [76, 79, 17]}] | Pick up the maroon cube and place it into the magenta container | [
[
68,
88,
30,
0,
60,
90,
1
],
[
68,
88,
17,
0,
60,
90,
1
],
[
68,
88,
17,
0,
60,
90,
0
],
[
68,
88,
30,
0,
60,
90,
0
],
[
36,
37,
30,
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60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|rose|><|cube|>": ["<|20-16|>", 18]}] | [{"<|green|><|container|>": ["<|20-6|>", 18]}] | LOCATE OBJECTS:
Target Object: <|rose|><|cube|> found at <|20-16|> with height 18
Target Placement Location: <|green|><|container|> at <|20-6|> with height 18
PLAN ACTIONS:
Step 1: Move above <|rose|><|cube|> at <|20-16|> with height 30
Step 2: Lower to <|rose|><|cube|> at <|20-16|> with height 18
Step 3: Close gripper... | [{"green-container": [25, 81, 18]}, {"cyan-cube": [52, 74, 17]}, {"rose-cube": [65, 82, 18]}, {"green-triangular prism": [35, 45, 18]}, {"maroon-triangular prism": [37, 81, 18]}] | Pick up the rose cube and place it into the green container | [
[
65,
82,
30,
0,
60,
90,
1
],
[
65,
82,
18,
0,
60,
90,
1
],
[
65,
82,
18,
0,
60,
90,
0
],
[
65,
82,
30,
0,
60,
90,
0
],
[
25,
81,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|cyan|><|triangular prism|>": ["<|13-7|>", 18]}] | [{"<|yellow|><|container|>": ["<|16-11|>", 18]}] | LOCATE OBJECTS:
Target Object: <|cyan|><|triangular prism|> found at <|13-7|> with height 18
Target Placement Location: <|yellow|><|container|> at <|16-11|> with height 18
PLAN ACTIONS:
Step 1: Move above <|cyan|><|triangular prism|> at <|13-7|> with height 30
Step 2: Lower to <|cyan|><|triangular prism|> at <|13-7|> w... | [{"cyan-triangular prism": [29, 55, 18]}, {"red-star": [47, 84, 17]}, {"yellow-container": [47, 67, 18]}, {"teal-star": [78, 58, 18]}, {"white-cylinder": [27, 83, 17]}, {"magenta-moon": [31, 83, 17]}, {"azure-star": [21, 67, 17]}] | Pick up the cyan triangular prism and place it into the yellow container | [
[
29,
55,
30,
0,
60,
90,
1
],
[
29,
55,
18,
0,
60,
90,
1
],
[
29,
55,
18,
0,
60,
90,
0
],
[
29,
55,
30,
0,
60,
90,
0
],
[
47,
67,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|white|><|triangular prism|>": ["<|15-7|>", 17]}] | [{"<|blue|><|star|>": ["<|11-8|>", 17]}] | LOCATE OBJECTS:
Target Object: <|white|><|triangular prism|> found at <|15-7|> with height 17
Target Placement Location: <|blue|><|star|> at <|11-8|> with height 17
PLAN ACTIONS:
Step 1: Move above <|white|><|triangular prism|> at <|15-7|> with height 30
Step 2: Lower to <|white|><|triangular prism|> at <|15-7|> with h... | [{"green-cylinder": [66, 66, 18]}, {"white-triangular prism": [28, 62, 17]}, {"gray-triangular prism": [77, 79, 17]}, {"black-moon": [36, 66, 18]}, {"red-triangular prism": [45, 61, 18]}, {"blue-star": [33, 44, 17]}, {"red-star": [88, 29, 17]}] | Stack the white triangular prism on top of the blue star | [
[
28,
62,
30,
0,
60,
90,
1
],
[
28,
62,
17,
0,
60,
90,
1
],
[
28,
62,
17,
0,
60,
90,
0
],
[
28,
62,
30,
0,
60,
90,
0
],
[
33,
44,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|red|><|star|>": ["<|20-15|>", 17]}] | [{"<|maroon|><|container|>": ["<|5-12|>", 18]}] | LOCATE OBJECTS:
Target Object: <|red|><|star|> found at <|20-15|> with height 17
Target Placement Location: <|maroon|><|container|> at <|5-12|> with height 18
PLAN ACTIONS:
Step 1: Move above <|red|><|star|> at <|20-15|> with height 30
Step 2: Lower to <|red|><|star|> at <|20-15|> with height 17
Step 3: Close gripper o... | [{"lime-cylinder": [64, 50, 17]}, {"maroon-container": [51, 20, 18]}, {"maroon-cube": [34, 44, 17]}, {"navy-cylinder": [33, 31, 18]}, {"cyan-star": [52, 86, 17]}, {"red-star": [63, 81, 17]}, {"purple-star": [39, 70, 18]}] | Pick up the red star and place it into the maroon container | [
[
63,
81,
30,
0,
60,
90,
1
],
[
63,
81,
17,
0,
60,
90,
1
],
[
63,
81,
17,
0,
60,
90,
0
],
[
63,
81,
30,
0,
60,
90,
0
],
[
51,
20,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|black|><|cylinder|>": ["<|19-19|>", 18]}] | [{"<|silver|><|triangular prism|>": ["<|4-12|>", 18]}] | LOCATE OBJECTS:
Target Object: <|black|><|cylinder|> found at <|19-19|> with height 18
Target Placement Location: <|silver|><|triangular prism|> at <|4-12|> with height 18
PLAN ACTIONS:
Step 1: Move above <|black|><|cylinder|> at <|19-19|> with height 30
Step 2: Lower to <|black|><|cylinder|> at <|19-19|> with height 1... | [{"olive-triangular prism": [31, 70, 18]}, {"silver-triangular prism": [48, 18, 18]}, {"lime-star": [50, 37, 18]}, {"black-cylinder": [78, 77, 18]}, {"azure-moon": [63, 59, 18]}, {"red-moon": [67, 31, 17]}] | Stack the black cylinder on top of the silver triangular prism | [
[
78,
77,
30,
0,
60,
90,
1
],
[
78,
77,
18,
0,
60,
90,
1
],
[
78,
77,
18,
0,
60,
90,
0
],
[
78,
77,
30,
0,
60,
90,
0
],
[
48,
18,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|yellow|><|cylinder|>": ["<|15-10|>", 17]}] | [{"<|white|><|star|>": ["<|15-6|>", 19]}] | LOCATE OBJECTS:
Target Object: <|yellow|><|cylinder|> found at <|15-10|> with height 17
Target Placement Location: <|white|><|star|> at <|15-6|> with height 19
PLAN ACTIONS:
Step 1: Move above <|yellow|><|cylinder|> at <|15-10|> with height 30
Step 2: Lower to <|yellow|><|cylinder|> at <|15-10|> with height 17
Step 3: ... | [{"blue-cube": [72, 27, 17]}, {"navy-triangular prism": [90, 28, 18]}, {"yellow-cylinder": [43, 62, 17]}, {"white-star": [24, 60, 19]}, {"blue-cylinder": [90, 76, 18]}, {"teal-cylinder": [25, 22, 17]}] | Stack the yellow cylinder on top of the white star | [
[
43,
62,
30,
0,
60,
90,
1
],
[
43,
62,
17,
0,
60,
90,
1
],
[
43,
62,
17,
0,
60,
90,
0
],
[
43,
62,
30,
0,
60,
90,
0
],
[
24,
60,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|navy|><|cylinder|>": ["<|16-17|>", 17]}] | [{"<|rose|><|container|>": ["<|17-20|>", 17]}] | LOCATE OBJECTS:
Target Object: <|navy|><|cylinder|> found at <|16-17|> with height 17
Target Placement Location: <|rose|><|container|> at <|17-20|> with height 17
PLAN ACTIONS:
Step 1: Move above <|navy|><|cylinder|> at <|16-17|> with height 30
Step 2: Lower to <|navy|><|cylinder|> at <|16-17|> with height 17
Step 3: C... | [{"azure-star": [58, 59, 18]}, {"rose-container": [80, 70, 17]}, {"purple-triangular prism": [85, 46, 17]}, {"navy-cylinder": [68, 65, 17]}, {"silver-triangular prism": [45, 26, 17]}, {"blue-moon": [78, 55, 18]}, {"navy-moon": [84, 66, 18]}] | Pick up the navy cylinder and place it into the rose container | [
[
68,
65,
30,
0,
60,
90,
1
],
[
68,
65,
17,
0,
60,
90,
1
],
[
68,
65,
17,
0,
60,
90,
0
],
[
68,
65,
30,
0,
60,
90,
0
],
[
80,
70,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|olive|><|cube|>": ["<|15-8|>", 18]}] | [{"<|cyan|><|container|>": ["<|11-21|>", 18]}] | LOCATE OBJECTS:
Target Object: <|olive|><|cube|> found at <|15-8|> with height 18
Target Placement Location: <|cyan|><|container|> at <|11-21|> with height 18
PLAN ACTIONS:
Step 1: Move above <|olive|><|cube|> at <|15-8|> with height 30
Step 2: Lower to <|olive|><|cube|> at <|15-8|> with height 18
Step 3: Close gripper... | [{"cyan-cylinder": [28, 39, 17]}, {"silver-star": [65, 69, 17]}, {"navy-triangular prism": [47, 25, 18]}, {"olive-cube": [32, 62, 18]}, {"cyan-container": [84, 45, 18]}] | Pick up the olive cube and place it into the cyan container | [
[
32,
62,
30,
0,
60,
90,
1
],
[
32,
62,
18,
0,
60,
90,
1
],
[
32,
62,
18,
0,
60,
90,
0
],
[
32,
62,
30,
0,
60,
90,
0
],
[
84,
45,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|navy|><|cube|>": ["<|6-7|>", 17]}] | [{"<|lime|><|container|>": ["<|12-7|>", 17]}] | LOCATE OBJECTS:
Target Object: <|navy|><|cube|> found at <|6-7|> with height 17
Target Placement Location: <|lime|><|container|> at <|12-7|> with height 17
PLAN ACTIONS:
Step 1: Move above <|navy|><|cube|> at <|6-7|> with height 30
Step 2: Lower to <|navy|><|cube|> at <|6-7|> with height 17
Step 3: Close gripper on <|n... | [{"navy-cube": [28, 27, 17]}, {"green-moon": [20, 63, 18]}, {"black-cylinder": [59, 20, 18]}, {"lime-container": [30, 50, 17]}, {"navy-star": [50, 87, 17]}, {"silver-moon": [68, 79, 17]}] | Pick up the navy cube and place it into the lime container | [
[
28,
27,
30,
0,
60,
90,
1
],
[
28,
27,
17,
0,
60,
90,
1
],
[
28,
27,
17,
0,
60,
90,
0
],
[
28,
27,
30,
0,
60,
90,
0
],
[
30,
50,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|blue|><|triangular prism|>": ["<|6-8|>", 17]}] | [{"<|black|><|star|>": ["<|3-10|>", 17]}] | LOCATE OBJECTS:
Target Object: <|blue|><|triangular prism|> found at <|6-8|> with height 17
Target Placement Location: <|black|><|star|> at <|3-10|> with height 17
PLAN ACTIONS:
Step 1: Move above <|blue|><|triangular prism|> at <|6-8|> with height 30
Step 2: Lower to <|blue|><|triangular prism|> at <|6-8|> with height... | [{"olive-cube": [62, 86, 17]}, {"maroon-star": [53, 79, 18]}, {"blue-triangular prism": [34, 27, 17]}, {"black-star": [42, 15, 17]}, {"lime-moon": [80, 66, 18]}, {"blue-cylinder": [51, 38, 17]}] | Stack the blue triangular prism on top of the black star | [
[
34,
27,
30,
0,
60,
90,
1
],
[
34,
27,
17,
0,
60,
90,
1
],
[
34,
27,
17,
0,
60,
90,
0
],
[
34,
27,
30,
0,
60,
90,
0
],
[
42,
15,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|gray|><|triangular prism|>": ["<|11-17|>", 18]}] | [{"<|violet|><|container|>": ["<|17-9|>", 18]}] | LOCATE OBJECTS:
Target Object: <|gray|><|triangular prism|> found at <|11-17|> with height 18
Target Placement Location: <|violet|><|container|> at <|17-9|> with height 18
PLAN ACTIONS:
Step 1: Move above <|gray|><|triangular prism|> at <|11-17|> with height 30
Step 2: Lower to <|gray|><|triangular prism|> at <|11-17|>... | [{"navy-triangular prism": [66, 42, 18]}, {"cyan-star": [27, 79, 18]}, {"gray-triangular prism": [70, 45, 18]}, {"purple-star": [33, 54, 17]}, {"violet-container": [38, 71, 18]}, {"maroon-cylinder": [39, 85, 17]}] | Pick up the gray triangular prism and place it into the violet container | [
[
70,
45,
30,
0,
60,
90,
1
],
[
70,
45,
18,
0,
60,
90,
1
],
[
70,
45,
18,
0,
60,
90,
0
],
[
70,
45,
30,
0,
60,
90,
0
],
[
38,
71,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|gray|><|moon|>": ["<|17-13|>", 18]}] | [{"<|rose|><|triangular prism|>": ["<|11-16|>", 18]}] | LOCATE OBJECTS:
Target Object: <|gray|><|moon|> found at <|17-13|> with height 18
Target Placement Location: <|rose|><|triangular prism|> at <|11-16|> with height 18
PLAN ACTIONS:
Step 1: Move above <|gray|><|moon|> at <|17-13|> with height 30
Step 2: Lower to <|gray|><|moon|> at <|17-13|> with height 18
Step 3: Close ... | [{"gray-moon": [54, 71, 18]}, {"rose-triangular prism": [64, 46, 18]}, {"white-cube": [25, 40, 17]}, {"maroon-moon": [63, 40, 18]}, {"lime-moon": [40, 54, 18]}, {"blue-star": [67, 35, 17]}] | Stack the gray moon on top of the rose triangular prism | [
[
54,
71,
30,
0,
60,
90,
1
],
[
54,
71,
18,
0,
60,
90,
1
],
[
54,
71,
18,
0,
60,
90,
0
],
[
54,
71,
30,
0,
60,
90,
0
],
[
64,
46,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|teal|><|cube|>": ["<|11-6|>", 17]}] | [{"<|lime|><|star|>": ["<|5-21|>", 18]}] | LOCATE OBJECTS:
Target Object: <|teal|><|cube|> found at <|11-6|> with height 17
Target Placement Location: <|lime|><|star|> at <|5-21|> with height 18
PLAN ACTIONS:
Step 1: Move above <|teal|><|cube|> at <|11-6|> with height 30
Step 2: Lower to <|teal|><|cube|> at <|11-6|> with height 17
Step 3: Close gripper on <|tea... | [{"olive-triangular prism": [21, 24, 17]}, {"rose-triangular prism": [59, 58, 18]}, {"lime-star": [87, 23, 18]}, {"teal-cube": [24, 45, 17]}, {"azure-cylinder": [25, 50, 18]}, {"navy-triangular prism": [38, 60, 18]}] | Stack the teal cube on top of the lime star | [
[
24,
45,
30,
0,
60,
90,
1
],
[
24,
45,
17,
0,
60,
90,
1
],
[
24,
45,
17,
0,
60,
90,
0
],
[
24,
45,
30,
0,
60,
90,
0
],
[
87,
23,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|magenta|><|cylinder|>": ["<|22-19|>", 18]}] | [{"<|olive|><|triangular prism|>": ["<|10-18|>", 17]}] | LOCATE OBJECTS:
Target Object: <|magenta|><|cylinder|> found at <|22-19|> with height 18
Target Placement Location: <|olive|><|triangular prism|> at <|10-18|> with height 17
PLAN ACTIONS:
Step 1: Move above <|magenta|><|cylinder|> at <|22-19|> with height 30
Step 2: Lower to <|magenta|><|cylinder|> at <|22-19|> with he... | [{"green-star": [39, 66, 18]}, {"magenta-cylinder": [77, 90, 18]}, {"cyan-triangular prism": [40, 85, 18]}, {"navy-moon": [45, 85, 17]}, {"lime-moon": [64, 24, 17]}, {"olive-triangular prism": [74, 43, 17]}, {"maroon-triangular prism": [61, 71, 17]}] | Stack the magenta cylinder on top of the olive triangular prism | [
[
77,
90,
30,
0,
60,
90,
1
],
[
77,
90,
18,
0,
60,
90,
1
],
[
77,
90,
18,
0,
60,
90,
0
],
[
77,
90,
30,
0,
60,
90,
0
],
[
74,
43,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|violet|><|moon|>": ["<|20-15|>", 18]}] | [{"<|rose|><|cube|>": ["<|21-9|>", 19]}] | LOCATE OBJECTS:
Target Object: <|violet|><|moon|> found at <|20-15|> with height 18
Target Placement Location: <|rose|><|cube|> at <|21-9|> with height 19
PLAN ACTIONS:
Step 1: Move above <|violet|><|moon|> at <|20-15|> with height 30
Step 2: Lower to <|violet|><|moon|> at <|20-15|> with height 18
Step 3: Close gripper... | [{"teal-star": [31, 31, 17]}, {"rose-cube": [36, 85, 19]}, {"maroon-cylinder": [62, 64, 18]}, {"violet-triangular prism": [82, 80, 17]}, {"blue-cylinder": [46, 75, 18]}, {"violet-moon": [63, 82, 18]}, {"purple-triangular prism": [73, 79, 18]}] | Stack the violet moon on top of the rose cube | [
[
63,
82,
30,
0,
60,
90,
1
],
[
63,
82,
18,
0,
60,
90,
1
],
[
63,
82,
18,
0,
60,
90,
0
],
[
63,
82,
30,
0,
60,
90,
0
],
[
36,
85,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|azure|><|moon|>": ["<|11-15|>", 18]}] | [{"<|yellow|><|moon|>": ["<|12-19|>", 18]}] | LOCATE OBJECTS:
Target Object: <|azure|><|moon|> found at <|11-15|> with height 18
Target Placement Location: <|yellow|><|moon|> at <|12-19|> with height 18
PLAN ACTIONS:
Step 1: Move above <|azure|><|moon|> at <|11-15|> with height 30
Step 2: Lower to <|azure|><|moon|> at <|11-15|> with height 18
Step 3: Close gripper... | [{"yellow-moon": [78, 50, 18]}, {"white-triangular prism": [35, 53, 18]}, {"azure-moon": [61, 44, 18]}, {"lime-cube": [52, 36, 18]}, {"teal-star": [20, 57, 18]}, {"blue-triangular prism": [79, 28, 18]}] | Stack the azure moon on top of the yellow moon | [
[
61,
44,
30,
0,
60,
90,
1
],
[
61,
44,
18,
0,
60,
90,
1
],
[
61,
44,
18,
0,
60,
90,
0
],
[
61,
44,
30,
0,
60,
90,
0
],
[
78,
50,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|black|><|star|>": ["<|20-5|>", 18]}] | [{"<|yellow|><|container|>": ["<|7-21|>", 19]}] | LOCATE OBJECTS:
Target Object: <|black|><|star|> found at <|20-5|> with height 18
Target Placement Location: <|yellow|><|container|> at <|7-21|> with height 19
PLAN ACTIONS:
Step 1: Move above <|black|><|star|> at <|20-5|> with height 30
Step 2: Lower to <|black|><|star|> at <|20-5|> with height 18
Step 3: Close grippe... | [{"purple-cylinder": [34, 73, 17]}, {"magenta-cube": [54, 55, 18]}, {"maroon-cube": [81, 75, 18]}, {"purple-triangular prism": [88, 45, 18]}, {"yellow-container": [85, 31, 19]}, {"black-star": [22, 82, 18]}] | Pick up the black star and place it into the yellow container | [
[
22,
82,
30,
0,
60,
90,
1
],
[
22,
82,
18,
0,
60,
90,
1
],
[
22,
82,
18,
0,
60,
90,
0
],
[
22,
82,
30,
0,
60,
90,
0
],
[
85,
31,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|maroon|><|triangular prism|>": ["<|9-21|>", 17]}] | [{"<|teal|><|cylinder|>": ["<|10-5|>", 17]}] | LOCATE OBJECTS:
Target Object: <|maroon|><|triangular prism|> found at <|9-21|> with height 17
Target Placement Location: <|teal|><|cylinder|> at <|10-5|> with height 17
PLAN ACTIONS:
Step 1: Move above <|maroon|><|triangular prism|> at <|9-21|> with height 30
Step 2: Lower to <|maroon|><|triangular prism|> at <|9-21|>... | [{"magenta-star": [64, 89, 17]}, {"black-cube": [66, 21, 18]}, {"maroon-triangular prism": [86, 39, 17]}, {"red-triangular prism": [40, 76, 17]}, {"blue-cylinder": [79, 47, 17]}, {"teal-triangular prism": [37, 46, 17]}, {"teal-cylinder": [21, 41, 17]}] | Stack the maroon triangular prism on top of the teal cylinder | [
[
86,
39,
30,
0,
60,
90,
1
],
[
86,
39,
17,
0,
60,
90,
1
],
[
86,
39,
17,
0,
60,
90,
0
],
[
86,
39,
30,
0,
60,
90,
0
],
[
21,
41,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|azure|><|moon|>": ["<|19-18|>", 17]}] | [{"<|violet|><|container|>": ["<|12-6|>", 18]}] | LOCATE OBJECTS:
Target Object: <|azure|><|moon|> found at <|19-18|> with height 17
Target Placement Location: <|violet|><|container|> at <|12-6|> with height 18
PLAN ACTIONS:
Step 1: Move above <|azure|><|moon|> at <|19-18|> with height 30
Step 2: Lower to <|azure|><|moon|> at <|19-18|> with height 17
Step 3: Close gri... | [{"lime-triangular prism": [25, 61, 18]}, {"violet-container": [27, 49, 18]}, {"magenta-triangular prism": [83, 56, 17]}, {"purple-cylinder": [27, 38, 17]}, {"magenta-cylinder": [82, 34, 17]}, {"azure-moon": [75, 79, 17]}] | Pick up the azure moon and place it into the violet container | [
[
75,
79,
30,
0,
60,
90,
1
],
[
75,
79,
17,
0,
60,
90,
1
],
[
75,
79,
17,
0,
60,
90,
0
],
[
75,
79,
30,
0,
60,
90,
0
],
[
27,
49,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|green|><|cylinder|>": ["<|14-5|>", 17]}] | [{"<|olive|><|container|>": ["<|17-10|>", 17]}] | LOCATE OBJECTS:
Target Object: <|green|><|cylinder|> found at <|14-5|> with height 17
Target Placement Location: <|olive|><|container|> at <|17-10|> with height 17
PLAN ACTIONS:
Step 1: Move above <|green|><|cylinder|> at <|14-5|> with height 30
Step 2: Lower to <|green|><|cylinder|> at <|14-5|> with height 17
Step 3: ... | [{"navy-cylinder": [71, 51, 17]}, {"gray-moon": [35, 46, 17]}, {"olive-container": [43, 68, 17]}, {"magenta-triangular prism": [43, 49, 17]}, {"green-cylinder": [20, 56, 17]}, {"teal-moon": [89, 37, 18]}] | Pick up the green cylinder and place it into the olive container | [
[
20,
56,
30,
0,
60,
90,
1
],
[
20,
56,
17,
0,
60,
90,
1
],
[
20,
56,
17,
0,
60,
90,
0
],
[
20,
56,
30,
0,
60,
90,
0
],
[
43,
68,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|blue|><|triangular prism|>": ["<|14-21|>", 17]}] | [{"<|teal|><|moon|>": ["<|22-7|>", 17]}] | LOCATE OBJECTS:
Target Object: <|blue|><|triangular prism|> found at <|14-21|> with height 17
Target Placement Location: <|teal|><|moon|> at <|22-7|> with height 17
PLAN ACTIONS:
Step 1: Move above <|blue|><|triangular prism|> at <|14-21|> with height 30
Step 2: Lower to <|blue|><|triangular prism|> at <|14-21|> with h... | [{"rose-star": [77, 66, 17]}, {"gray-cube": [35, 85, 17]}, {"blue-triangular prism": [84, 57, 17]}, {"purple-cylinder": [68, 64, 17]}, {"teal-moon": [31, 89, 17]}, {"olive-cylinder": [73, 90, 17]}] | Stack the blue triangular prism on top of the teal moon | [
[
84,
57,
30,
0,
60,
90,
1
],
[
84,
57,
17,
0,
60,
90,
1
],
[
84,
57,
17,
0,
60,
90,
0
],
[
84,
57,
30,
0,
60,
90,
0
],
[
31,
89,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|violet|><|cube|>": ["<|16-6|>", 18]}] | [{"<|azure|><|container|>": ["<|2-17|>", 17]}] | LOCATE OBJECTS:
Target Object: <|violet|><|cube|> found at <|16-6|> with height 18
Target Placement Location: <|azure|><|container|> at <|2-17|> with height 17
PLAN ACTIONS:
Step 1: Move above <|violet|><|cube|> at <|16-6|> with height 30
Step 2: Lower to <|violet|><|cube|> at <|16-6|> with height 18
Step 3: Close grip... | [{"violet-cube": [25, 64, 18]}, {"green-star": [84, 88, 18]}, {"azure-container": [70, 10, 17]}, {"black-moon": [51, 77, 17]}, {"gray-moon": [72, 80, 18]}] | Pick up the violet cube and place it into the azure container | [
[
25,
64,
30,
0,
60,
90,
1
],
[
25,
64,
18,
0,
60,
90,
1
],
[
25,
64,
18,
0,
60,
90,
0
],
[
25,
64,
30,
0,
60,
90,
0
],
[
70,
10,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|white|><|star|>": ["<|18-9|>", 17]}] | [{"<|olive|><|container|>": ["<|15-15|>", 17]}] | LOCATE OBJECTS:
Target Object: <|white|><|star|> found at <|18-9|> with height 17
Target Placement Location: <|olive|><|container|> at <|15-15|> with height 17
PLAN ACTIONS:
Step 1: Move above <|white|><|star|> at <|18-9|> with height 30
Step 2: Lower to <|white|><|star|> at <|18-9|> with height 17
Step 3: Close grippe... | [{"olive-container": [63, 61, 17]}, {"navy-star": [77, 84, 17]}, {"white-star": [37, 73, 17]}, {"olive-cylinder": [84, 53, 17]}, {"olive-star": [32, 51, 17]}, {"rose-cube": [42, 89, 18]}] | Pick up the white star and place it into the olive container | [
[
37,
73,
30,
0,
60,
90,
1
],
[
37,
73,
17,
0,
60,
90,
1
],
[
37,
73,
17,
0,
60,
90,
0
],
[
37,
73,
30,
0,
60,
90,
0
],
[
63,
61,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|azure|><|star|>": ["<|15-18|>", 17]}] | [{"<|purple|><|container|>": ["<|6-13|>", 18]}] | LOCATE OBJECTS:
Target Object: <|azure|><|star|> found at <|15-18|> with height 17
Target Placement Location: <|purple|><|container|> at <|6-13|> with height 18
PLAN ACTIONS:
Step 1: Move above <|azure|><|star|> at <|15-18|> with height 30
Step 2: Lower to <|azure|><|star|> at <|15-18|> with height 17
Step 3: Close gri... | [{"purple-container": [55, 25, 18]}, {"azure-star": [75, 63, 17]}, {"red-cylinder": [40, 83, 18]}, {"olive-star": [74, 86, 18]}, {"white-cylinder": [67, 42, 17]}, {"blue-cube": [90, 85, 18]}] | Pick up the azure star and place it into the purple container | [
[
75,
63,
30,
0,
60,
90,
1
],
[
75,
63,
17,
0,
60,
90,
1
],
[
75,
63,
17,
0,
60,
90,
0
],
[
75,
63,
30,
0,
60,
90,
0
],
[
55,
25,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|yellow|><|cube|>": ["<|9-5|>", 18]}] | [{"<|purple|><|cylinder|>": ["<|16-20|>", 18]}] | LOCATE OBJECTS:
Target Object: <|yellow|><|cube|> found at <|9-5|> with height 18
Target Placement Location: <|purple|><|cylinder|> at <|16-20|> with height 18
PLAN ACTIONS:
Step 1: Move above <|yellow|><|cube|> at <|9-5|> with height 30
Step 2: Lower to <|yellow|><|cube|> at <|9-5|> with height 18
Step 3: Close grippe... | [{"purple-cylinder": [80, 65, 18]}, {"violet-cube": [80, 40, 18]}, {"cyan-triangular prism": [66, 84, 17]}, {"yellow-cube": [20, 39, 18]}, {"silver-triangular prism": [80, 32, 17]}, {"rose-cube": [82, 44, 18]}, {"silver-star": [22, 53, 18]}] | Stack the yellow cube on top of the purple cylinder | [
[
20,
39,
30,
0,
60,
90,
1
],
[
20,
39,
18,
0,
60,
90,
1
],
[
20,
39,
18,
0,
60,
90,
0
],
[
20,
39,
30,
0,
60,
90,
0
],
[
80,
65,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|green|><|star|>": ["<|11-9|>", 17]}] | [{"<|lime|><|container|>": ["<|11-16|>", 17]}] | LOCATE OBJECTS:
Target Object: <|green|><|star|> found at <|11-9|> with height 17
Target Placement Location: <|lime|><|container|> at <|11-16|> with height 17
PLAN ACTIONS:
Step 1: Move above <|green|><|star|> at <|11-9|> with height 30
Step 2: Lower to <|green|><|star|> at <|11-9|> with height 17
Step 3: Close gripper... | [{"green-star": [36, 47, 17]}, {"lime-container": [67, 44, 17]}, {"silver-star": [35, 30, 18]}, {"rose-star": [82, 25, 17]}, {"red-cylinder": [21, 53, 18]}] | Pick up the green star and place it into the lime container | [
[
36,
47,
30,
0,
60,
90,
1
],
[
36,
47,
17,
0,
60,
90,
1
],
[
36,
47,
17,
0,
60,
90,
0
],
[
36,
47,
30,
0,
60,
90,
0
],
[
67,
44,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|olive|><|moon|>": ["<|5-14|>", 17]}] | [{"<|teal|><|container|>": ["<|6-18|>", 19]}] | LOCATE OBJECTS:
Target Object: <|olive|><|moon|> found at <|5-14|> with height 17
Target Placement Location: <|teal|><|container|> at <|6-18|> with height 19
PLAN ACTIONS:
Step 1: Move above <|olive|><|moon|> at <|5-14|> with height 30
Step 2: Lower to <|olive|><|moon|> at <|5-14|> with height 17
Step 3: Close gripper ... | [{"azure-cube": [31, 29, 17]}, {"teal-container": [72, 26, 19]}, {"gray-triangular prism": [82, 68, 18]}, {"purple-triangular prism": [29, 64, 17]}, {"black-cube": [22, 31, 18]}, {"olive-moon": [56, 22, 17]}, {"navy-cylinder": [27, 54, 17]}] | Pick up the olive moon and place it into the teal container | [
[
56,
22,
30,
0,
60,
90,
1
],
[
56,
22,
17,
0,
60,
90,
1
],
[
56,
22,
17,
0,
60,
90,
0
],
[
56,
22,
30,
0,
60,
90,
0
],
[
72,
26,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|white|><|triangular prism|>": ["<|6-6|>", 17]}] | [{"<|maroon|><|container|>": ["<|17-19|>", 17]}] | LOCATE OBJECTS:
Target Object: <|white|><|triangular prism|> found at <|6-6|> with height 17
Target Placement Location: <|maroon|><|container|> at <|17-19|> with height 17
PLAN ACTIONS:
Step 1: Move above <|white|><|triangular prism|> at <|6-6|> with height 30
Step 2: Lower to <|white|><|triangular prism|> at <|6-6|> w... | [{"maroon-container": [76, 70, 17]}, {"blue-triangular prism": [76, 81, 18]}, {"blue-star": [71, 34, 17]}, {"teal-moon": [81, 37, 18]}, {"white-triangular prism": [25, 27, 17]}, {"olive-triangular prism": [64, 75, 18]}] | Pick up the white triangular prism and place it into the maroon container | [
[
25,
27,
30,
0,
60,
90,
1
],
[
25,
27,
17,
0,
60,
90,
1
],
[
25,
27,
17,
0,
60,
90,
0
],
[
25,
27,
30,
0,
60,
90,
0
],
[
76,
70,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|teal|><|star|>": ["<|5-6|>", 18]}] | [{"<|rose|><|cube|>": ["<|12-21|>", 19]}] | LOCATE OBJECTS:
Target Object: <|teal|><|star|> found at <|5-6|> with height 18
Target Placement Location: <|rose|><|cube|> at <|12-21|> with height 19
PLAN ACTIONS:
Step 1: Move above <|teal|><|star|> at <|5-6|> with height 30
Step 2: Lower to <|teal|><|star|> at <|5-6|> with height 18
Step 3: Close gripper on <|teal|... | [{"rose-triangular prism": [72, 50, 18]}, {"rose-cylinder": [36, 44, 18]}, {"rose-cube": [84, 49, 19]}, {"red-cube": [65, 87, 17]}, {"red-cylinder": [48, 67, 17]}, {"blue-moon": [46, 23, 18]}, {"teal-star": [24, 22, 18]}] | Stack the teal star on top of the rose cube | [
[
24,
22,
30,
0,
60,
90,
1
],
[
24,
22,
18,
0,
60,
90,
1
],
[
24,
22,
18,
0,
60,
90,
0
],
[
24,
22,
30,
0,
60,
90,
0
],
[
84,
49,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|olive|><|triangular prism|>": ["<|13-21|>", 17]}] | [{"<|purple|><|container|>": ["<|3-5|>", 19]}] | LOCATE OBJECTS:
Target Object: <|olive|><|triangular prism|> found at <|13-21|> with height 17
Target Placement Location: <|purple|><|container|> at <|3-5|> with height 19
PLAN ACTIONS:
Step 1: Move above <|olive|><|triangular prism|> at <|13-21|> with height 30
Step 2: Lower to <|olive|><|triangular prism|> at <|13-21... | [{"blue-triangular prism": [48, 31, 17]}, {"red-moon": [31, 64, 18]}, {"teal-cube": [20, 49, 18]}, {"purple-container": [21, 13, 19]}, {"olive-triangular prism": [87, 55, 17]}] | Pick up the olive triangular prism and place it into the purple container | [
[
87,
55,
30,
0,
60,
90,
1
],
[
87,
55,
17,
0,
60,
90,
1
],
[
87,
55,
17,
0,
60,
90,
0
],
[
87,
55,
30,
0,
60,
90,
0
],
[
21,
13,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|azure|><|triangular prism|>": ["<|6-13|>", 17]}] | [{"<|red|><|container|>": ["<|16-7|>", 19]}] | LOCATE OBJECTS:
Target Object: <|azure|><|triangular prism|> found at <|6-13|> with height 17
Target Placement Location: <|red|><|container|> at <|16-7|> with height 19
PLAN ACTIONS:
Step 1: Move above <|azure|><|triangular prism|> at <|6-13|> with height 30
Step 2: Lower to <|azure|><|triangular prism|> at <|6-13|> wi... | [{"azure-triangular prism": [55, 26, 17]}, {"lime-triangular prism": [65, 21, 18]}, {"black-triangular prism": [69, 58, 18]}, {"maroon-star": [41, 72, 17]}, {"red-container": [29, 67, 19]}, {"blue-star": [86, 32, 17]}, {"gray-star": [22, 34, 18]}] | Pick up the azure triangular prism and place it into the red container | [
[
55,
26,
30,
0,
60,
90,
1
],
[
55,
26,
17,
0,
60,
90,
1
],
[
55,
26,
17,
0,
60,
90,
0
],
[
55,
26,
30,
0,
60,
90,
0
],
[
29,
67,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|maroon|><|star|>": ["<|17-7|>", 17]}] | [{"<|teal|><|star|>": ["<|19-10|>", 17]}] | LOCATE OBJECTS:
Target Object: <|maroon|><|star|> found at <|17-7|> with height 17
Target Placement Location: <|teal|><|star|> at <|19-10|> with height 17
PLAN ACTIONS:
Step 1: Move above <|maroon|><|star|> at <|17-7|> with height 30
Step 2: Lower to <|maroon|><|star|> at <|17-7|> with height 17
Step 3: Close gripper o... | [{"maroon-star": [28, 70, 17]}, {"teal-cube": [58, 47, 17]}, {"purple-star": [74, 71, 18]}, {"teal-star": [40, 78, 17]}, {"rose-cylinder": [28, 25, 18]}, {"violet-moon": [50, 51, 18]}] | Stack the maroon star on top of the teal star | [
[
28,
70,
30,
0,
60,
90,
1
],
[
28,
70,
17,
0,
60,
90,
1
],
[
28,
70,
17,
0,
60,
90,
0
],
[
28,
70,
30,
0,
60,
90,
0
],
[
40,
78,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|lime|><|star|>": ["<|15-19|>", 17]}] | [{"<|silver|><|container|>": ["<|12-16|>", 17]}] | LOCATE OBJECTS:
Target Object: <|lime|><|star|> found at <|15-19|> with height 17
Target Placement Location: <|silver|><|container|> at <|12-16|> with height 17
PLAN ACTIONS:
Step 1: Move above <|lime|><|star|> at <|15-19|> with height 30
Step 2: Lower to <|lime|><|star|> at <|15-19|> with height 17
Step 3: Close gripp... | [{"blue-cylinder": [59, 28, 17]}, {"cyan-moon": [53, 46, 17]}, {"magenta-cube": [59, 76, 18]}, {"silver-container": [67, 50, 17]}, {"lime-star": [79, 62, 17]}, {"rose-cylinder": [89, 46, 17]}, {"teal-triangular prism": [76, 87, 18]}] | Pick up the lime star and place it into the silver container | [
[
79,
62,
30,
0,
60,
90,
1
],
[
79,
62,
17,
0,
60,
90,
1
],
[
79,
62,
17,
0,
60,
90,
0
],
[
79,
62,
30,
0,
60,
90,
0
],
[
67,
50,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|cyan|><|star|>": ["<|18-10|>", 17]}] | [{"<|purple|><|star|>": ["<|13-12|>", 17]}] | LOCATE OBJECTS:
Target Object: <|cyan|><|star|> found at <|18-10|> with height 17
Target Placement Location: <|purple|><|star|> at <|13-12|> with height 17
PLAN ACTIONS:
Step 1: Move above <|cyan|><|star|> at <|18-10|> with height 30
Step 2: Lower to <|cyan|><|star|> at <|18-10|> with height 17
Step 3: Close gripper on... | [{"purple-star": [48, 52, 17]}, {"cyan-star": [43, 75, 17]}, {"gray-star": [80, 78, 18]}, {"gray-moon": [44, 56, 18]}, {"red-star": [40, 67, 17]}] | Stack the cyan star on top of the purple star | [
[
43,
75,
30,
0,
60,
90,
1
],
[
43,
75,
17,
0,
60,
90,
1
],
[
43,
75,
17,
0,
60,
90,
0
],
[
43,
75,
30,
0,
60,
90,
0
],
[
48,
52,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|yellow|><|triangular prism|>": ["<|8-8|>", 18]}] | [{"<|teal|><|cube|>": ["<|16-9|>", 17]}] | LOCATE OBJECTS:
Target Object: <|yellow|><|triangular prism|> found at <|8-8|> with height 18
Target Placement Location: <|teal|><|cube|> at <|16-9|> with height 17
PLAN ACTIONS:
Step 1: Move above <|yellow|><|triangular prism|> at <|8-8|> with height 30
Step 2: Lower to <|yellow|><|triangular prism|> at <|8-8|> with h... | [{"violet-cylinder": [69, 38, 17]}, {"yellow-triangular prism": [33, 32, 18]}, {"maroon-triangular prism": [33, 41, 17]}, {"azure-cube": [42, 50, 17]}, {"magenta-triangular prism": [85, 20, 18]}, {"teal-cube": [37, 64, 17]}] | Stack the yellow triangular prism on top of the teal cube | [
[
33,
32,
30,
0,
60,
90,
1
],
[
33,
32,
18,
0,
60,
90,
1
],
[
33,
32,
18,
0,
60,
90,
0
],
[
33,
32,
30,
0,
60,
90,
0
],
[
37,
64,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|maroon|><|cube|>": ["<|12-8|>", 17]}] | [{"<|yellow|><|star|>": ["<|22-15|>", 17]}] | LOCATE OBJECTS:
Target Object: <|maroon|><|cube|> found at <|12-8|> with height 17
Target Placement Location: <|yellow|><|star|> at <|22-15|> with height 17
PLAN ACTIONS:
Step 1: Move above <|maroon|><|cube|> at <|12-8|> with height 30
Step 2: Lower to <|maroon|><|cube|> at <|12-8|> with height 17
Step 3: Close gripper... | [{"maroon-cube": [32, 51, 17]}, {"black-moon": [88, 73, 18]}, {"gray-cube": [64, 80, 17]}, {"gray-cylinder": [58, 58, 17]}, {"yellow-star": [61, 88, 17]}] | Stack the maroon cube on top of the yellow star | [
[
32,
51,
30,
0,
60,
90,
1
],
[
32,
51,
17,
0,
60,
90,
1
],
[
32,
51,
17,
0,
60,
90,
0
],
[
32,
51,
30,
0,
60,
90,
0
],
[
61,
88,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|lime|><|triangular prism|>": ["<|9-22|>", 18]}] | [{"<|gray|><|container|>": ["<|12-3|>", 19]}] | LOCATE OBJECTS:
Target Object: <|lime|><|triangular prism|> found at <|9-22|> with height 18
Target Placement Location: <|gray|><|container|> at <|12-3|> with height 19
PLAN ACTIONS:
Step 1: Move above <|lime|><|triangular prism|> at <|9-22|> with height 30
Step 2: Lower to <|lime|><|triangular prism|> at <|9-22|> with... | [{"gray-container": [14, 51, 19]}, {"lime-triangular prism": [88, 37, 18]}, {"violet-star": [59, 78, 18]}, {"red-star": [36, 60, 17]}, {"silver-cylinder": [48, 22, 18]}, {"blue-cube": [79, 29, 18]}] | Pick up the lime triangular prism and place it into the gray container | [
[
88,
37,
30,
0,
60,
90,
1
],
[
88,
37,
18,
0,
60,
90,
1
],
[
88,
37,
18,
0,
60,
90,
0
],
[
88,
37,
30,
0,
60,
90,
0
],
[
14,
51,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|yellow|><|cylinder|>": ["<|19-5|>", 17]}] | [{"<|green|><|container|>": ["<|14-14|>", 19]}] | LOCATE OBJECTS:
Target Object: <|yellow|><|cylinder|> found at <|19-5|> with height 17
Target Placement Location: <|green|><|container|> at <|14-14|> with height 19
PLAN ACTIONS:
Step 1: Move above <|yellow|><|cylinder|> at <|19-5|> with height 30
Step 2: Lower to <|yellow|><|cylinder|> at <|19-5|> with height 17
Step ... | [{"red-star": [36, 41, 18]}, {"maroon-star": [38, 43, 17]}, {"red-cylinder": [78, 75, 18]}, {"maroon-moon": [49, 78, 18]}, {"green-container": [59, 59, 19]}, {"yellow-cylinder": [22, 77, 17]}, {"teal-star": [81, 70, 17]}] | Pick up the yellow cylinder and place it into the green container | [
[
22,
77,
30,
0,
60,
90,
1
],
[
22,
77,
17,
0,
60,
90,
1
],
[
22,
77,
17,
0,
60,
90,
0
],
[
22,
77,
30,
0,
60,
90,
0
],
[
59,
59,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|azure|><|triangular prism|>": ["<|9-20|>", 18]}] | [{"<|teal|><|cube|>": ["<|7-22|>", 19]}] | LOCATE OBJECTS:
Target Object: <|azure|><|triangular prism|> found at <|9-20|> with height 18
Target Placement Location: <|teal|><|cube|> at <|7-22|> with height 19
PLAN ACTIONS:
Step 1: Move above <|azure|><|triangular prism|> at <|9-20|> with height 30
Step 2: Lower to <|azure|><|triangular prism|> at <|9-20|> with h... | [{"olive-triangular prism": [21, 29, 17]}, {"teal-cube": [90, 31, 19]}, {"blue-star": [36, 22, 17]}, {"olive-cube": [72, 61, 17]}, {"azure-triangular prism": [80, 36, 18]}, {"navy-triangular prism": [34, 56, 17]}] | Stack the azure triangular prism on top of the teal cube | [
[
80,
36,
30,
0,
60,
90,
1
],
[
80,
36,
18,
0,
60,
90,
1
],
[
80,
36,
18,
0,
60,
90,
0
],
[
80,
36,
30,
0,
60,
90,
0
],
[
90,
31,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|purple|><|star|>": ["<|8-7|>", 18]}] | [{"<|blue|><|container|>": ["<|19-20|>", 17]}] | LOCATE OBJECTS:
Target Object: <|purple|><|star|> found at <|8-7|> with height 18
Target Placement Location: <|blue|><|container|> at <|19-20|> with height 17
PLAN ACTIONS:
Step 1: Move above <|purple|><|star|> at <|8-7|> with height 30
Step 2: Lower to <|purple|><|star|> at <|8-7|> with height 18
Step 3: Close gripper... | [{"purple-star": [30, 33, 18]}, {"green-cube": [55, 43, 18]}, {"blue-container": [81, 78, 17]}, {"gray-moon": [40, 49, 17]}, {"blue-triangular prism": [21, 47, 18]}] | Pick up the purple star and place it into the blue container | [
[
30,
33,
30,
0,
60,
90,
1
],
[
30,
33,
18,
0,
60,
90,
1
],
[
30,
33,
18,
0,
60,
90,
0
],
[
30,
33,
30,
0,
60,
90,
0
],
[
81,
78,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|blue|><|star|>": ["<|17-15|>", 18]}] | [{"<|azure|><|cylinder|>": ["<|15-15|>", 17]}] | LOCATE OBJECTS:
Target Object: <|blue|><|star|> found at <|17-15|> with height 18
Target Placement Location: <|azure|><|cylinder|> at <|15-15|> with height 17
PLAN ACTIONS:
Step 1: Move above <|blue|><|star|> at <|17-15|> with height 30
Step 2: Lower to <|blue|><|star|> at <|17-15|> with height 18
Step 3: Close gripper... | [{"rose-star": [24, 60, 17]}, {"silver-star": [32, 26, 17]}, {"olive-moon": [80, 43, 18]}, {"azure-cylinder": [61, 62, 17]}, {"white-moon": [49, 87, 17]}, {"blue-star": [61, 69, 18]}, {"white-triangular prism": [60, 86, 17]}] | Stack the blue star on top of the azure cylinder | [
[
61,
69,
30,
0,
60,
90,
1
],
[
61,
69,
18,
0,
60,
90,
1
],
[
61,
69,
18,
0,
60,
90,
0
],
[
61,
69,
30,
0,
60,
90,
0
],
[
61,
62,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|gray|><|cube|>": ["<|15-8|>", 18]}] | [{"<|green|><|container|>": ["<|22-5|>", 19]}] | LOCATE OBJECTS:
Target Object: <|gray|><|cube|> found at <|15-8|> with height 18
Target Placement Location: <|green|><|container|> at <|22-5|> with height 19
PLAN ACTIONS:
Step 1: Move above <|gray|><|cube|> at <|15-8|> with height 30
Step 2: Lower to <|gray|><|cube|> at <|15-8|> with height 18
Step 3: Close gripper on... | [{"maroon-star": [34, 20, 18]}, {"maroon-triangular prism": [80, 51, 18]}, {"yellow-cube": [64, 40, 17]}, {"green-container": [20, 88, 19]}, {"gray-cube": [34, 61, 18]}] | Pick up the gray cube and place it into the green container | [
[
34,
61,
30,
0,
60,
90,
1
],
[
34,
61,
18,
0,
60,
90,
1
],
[
34,
61,
18,
0,
60,
90,
0
],
[
34,
61,
30,
0,
60,
90,
0
],
[
20,
88,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|red|><|triangular prism|>": ["<|22-20|>", 17]}] | [{"<|olive|><|cube|>": ["<|4-5|>", 19]}] | LOCATE OBJECTS:
Target Object: <|red|><|triangular prism|> found at <|22-20|> with height 17
Target Placement Location: <|olive|><|cube|> at <|4-5|> with height 19
PLAN ACTIONS:
Step 1: Move above <|red|><|triangular prism|> at <|22-20|> with height 30
Step 2: Lower to <|red|><|triangular prism|> at <|22-20|> with heig... | [{"red-triangular prism": [82, 88, 17]}, {"blue-star": [81, 61, 17]}, {"gray-moon": [84, 23, 18]}, {"olive-cube": [22, 19, 19]}, {"black-cylinder": [84, 36, 17]}] | Stack the red triangular prism on top of the olive cube | [
[
82,
88,
30,
0,
60,
90,
1
],
[
82,
88,
17,
0,
60,
90,
1
],
[
82,
88,
17,
0,
60,
90,
0
],
[
82,
88,
30,
0,
60,
90,
0
],
[
22,
19,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|olive|><|cylinder|>": ["<|6-20|>", 17]}] | [{"<|silver|><|moon|>": ["<|5-22|>", 17]}] | LOCATE OBJECTS:
Target Object: <|olive|><|cylinder|> found at <|6-20|> with height 17
Target Placement Location: <|silver|><|moon|> at <|5-22|> with height 17
PLAN ACTIONS:
Step 1: Move above <|olive|><|cylinder|> at <|6-20|> with height 30
Step 2: Lower to <|olive|><|cylinder|> at <|6-20|> with height 17
Step 3: Close... | [{"olive-cylinder": [83, 27, 17]}, {"violet-cylinder": [61, 42, 18]}, {"silver-moon": [89, 20, 17]}, {"black-cube": [37, 28, 18]}, {"purple-moon": [70, 50, 17]}] | Stack the olive cylinder on top of the silver moon | [
[
83,
27,
30,
0,
60,
90,
1
],
[
83,
27,
17,
0,
60,
90,
1
],
[
83,
27,
17,
0,
60,
90,
0
],
[
83,
27,
30,
0,
60,
90,
0
],
[
89,
20,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|magenta|><|triangular prism|>": ["<|12-8|>", 17]}] | [{"<|gray|><|container|>": ["<|6-2|>", 18]}] | LOCATE OBJECTS:
Target Object: <|magenta|><|triangular prism|> found at <|12-8|> with height 17
Target Placement Location: <|gray|><|container|> at <|6-2|> with height 18
PLAN ACTIONS:
Step 1: Move above <|magenta|><|triangular prism|> at <|12-8|> with height 30
Step 2: Lower to <|magenta|><|triangular prism|> at <|12-... | [{"red-cube": [48, 62, 17]}, {"gray-container": [10, 27, 18]}, {"cyan-moon": [49, 68, 18]}, {"green-cube": [27, 29, 18]}, {"magenta-triangular prism": [32, 48, 17]}, {"green-moon": [56, 36, 18]}] | Pick up the magenta triangular prism and place it into the gray container | [
[
32,
48,
30,
0,
60,
90,
1
],
[
32,
48,
17,
0,
60,
90,
1
],
[
32,
48,
17,
0,
60,
90,
0
],
[
32,
48,
30,
0,
60,
90,
0
],
[
10,
27,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|cyan|><|cube|>": ["<|13-13|>", 17]}] | [{"<|gray|><|container|>": ["<|22-17|>", 19]}] | LOCATE OBJECTS:
Target Object: <|cyan|><|cube|> found at <|13-13|> with height 17
Target Placement Location: <|gray|><|container|> at <|22-17|> with height 19
PLAN ACTIONS:
Step 1: Move above <|cyan|><|cube|> at <|13-13|> with height 30
Step 2: Lower to <|cyan|><|cube|> at <|13-13|> with height 17
Step 3: Close gripper... | [{"gray-container": [70, 88, 19]}, {"blue-star": [38, 81, 17]}, {"cyan-cube": [54, 53, 17]}, {"rose-cube": [76, 54, 18]}, {"violet-cylinder": [45, 31, 17]}] | Pick up the cyan cube and place it into the gray container | [
[
54,
53,
30,
0,
60,
90,
1
],
[
54,
53,
17,
0,
60,
90,
1
],
[
54,
53,
17,
0,
60,
90,
0
],
[
54,
53,
30,
0,
60,
90,
0
],
[
70,
88,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|gray|><|cylinder|>": ["<|17-13|>", 17]}] | [{"<|purple|><|star|>": ["<|14-10|>", 17]}] | LOCATE OBJECTS:
Target Object: <|gray|><|cylinder|> found at <|17-13|> with height 17
Target Placement Location: <|purple|><|star|> at <|14-10|> with height 17
PLAN ACTIONS:
Step 1: Move above <|gray|><|cylinder|> at <|17-13|> with height 30
Step 2: Lower to <|gray|><|cylinder|> at <|17-13|> with height 17
Step 3: Clos... | [{"maroon-star": [22, 57, 18]}, {"gray-cylinder": [54, 69, 17]}, {"rose-cube": [48, 84, 17]}, {"magenta-cube": [47, 82, 18]}, {"purple-star": [43, 57, 17]}] | Stack the gray cylinder on top of the purple star | [
[
54,
69,
30,
0,
60,
90,
1
],
[
54,
69,
17,
0,
60,
90,
1
],
[
54,
69,
17,
0,
60,
90,
0
],
[
54,
69,
30,
0,
60,
90,
0
],
[
43,
57,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|white|><|cylinder|>": ["<|11-13|>", 17]}] | [{"<|magenta|><|container|>": ["<|16-22|>", 19]}] | LOCATE OBJECTS:
Target Object: <|white|><|cylinder|> found at <|11-13|> with height 17
Target Placement Location: <|magenta|><|container|> at <|16-22|> with height 19
PLAN ACTIONS:
Step 1: Move above <|white|><|cylinder|> at <|11-13|> with height 30
Step 2: Lower to <|white|><|cylinder|> at <|11-13|> with height 17
Ste... | [{"magenta-container": [88, 64, 19]}, {"rose-star": [24, 42, 17]}, {"yellow-star": [77, 72, 17]}, {"purple-moon": [70, 35, 17]}, {"white-cylinder": [54, 45, 17]}] | Pick up the white cylinder and place it into the magenta container | [
[
54,
45,
30,
0,
60,
90,
1
],
[
54,
45,
17,
0,
60,
90,
1
],
[
54,
45,
17,
0,
60,
90,
0
],
[
54,
45,
30,
0,
60,
90,
0
],
[
88,
64,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|gray|><|cube|>": ["<|10-12|>", 17]}] | [{"<|azure|><|container|>": ["<|8-10|>", 18]}] | LOCATE OBJECTS:
Target Object: <|gray|><|cube|> found at <|10-12|> with height 17
Target Placement Location: <|azure|><|container|> at <|8-10|> with height 18
PLAN ACTIONS:
Step 1: Move above <|gray|><|cube|> at <|10-12|> with height 30
Step 2: Lower to <|gray|><|cube|> at <|10-12|> with height 17
Step 3: Close gripper... | [{"cyan-cube": [66, 22, 18]}, {"cyan-moon": [39, 85, 18]}, {"purple-star": [85, 42, 17]}, {"azure-container": [43, 33, 18]}, {"gray-cube": [48, 43, 17]}, {"violet-cylinder": [24, 31, 18]}, {"navy-star": [40, 34, 17]}] | Pick up the gray cube and place it into the azure container | [
[
48,
43,
30,
0,
60,
90,
1
],
[
48,
43,
17,
0,
60,
90,
1
],
[
48,
43,
17,
0,
60,
90,
0
],
[
48,
43,
30,
0,
60,
90,
0
],
[
43,
33,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|gray|><|cylinder|>": ["<|10-15|>", 17]}] | [{"<|magenta|><|cube|>": ["<|18-8|>", 17]}] | LOCATE OBJECTS:
Target Object: <|gray|><|cylinder|> found at <|10-15|> with height 17
Target Placement Location: <|magenta|><|cube|> at <|18-8|> with height 17
PLAN ACTIONS:
Step 1: Move above <|gray|><|cylinder|> at <|10-15|> with height 30
Step 2: Lower to <|gray|><|cylinder|> at <|10-15|> with height 17
Step 3: Clos... | [{"yellow-star": [29, 37, 17]}, {"gray-cylinder": [63, 41, 17]}, {"azure-star": [77, 32, 17]}, {"green-cylinder": [60, 86, 18]}, {"magenta-cube": [32, 75, 17]}] | Stack the gray cylinder on top of the magenta cube | [
[
63,
41,
30,
0,
60,
90,
1
],
[
63,
41,
17,
0,
60,
90,
1
],
[
63,
41,
17,
0,
60,
90,
0
],
[
63,
41,
30,
0,
60,
90,
0
],
[
32,
75,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|silver|><|triangular prism|>": ["<|13-9|>", 17]}] | [{"<|white|><|star|>": ["<|10-4|>", 17]}] | LOCATE OBJECTS:
Target Object: <|silver|><|triangular prism|> found at <|13-9|> with height 17
Target Placement Location: <|white|><|star|> at <|10-4|> with height 17
PLAN ACTIONS:
Step 1: Move above <|silver|><|triangular prism|> at <|13-9|> with height 30
Step 2: Lower to <|silver|><|triangular prism|> at <|13-9|> wi... | [{"cyan-star": [60, 37, 17]}, {"gray-cube": [55, 64, 17]}, {"navy-cylinder": [64, 44, 17]}, {"silver-triangular prism": [37, 52, 17]}, {"white-star": [16, 42, 17]}, {"purple-cube": [37, 58, 18]}] | Stack the silver triangular prism on top of the white star | [
[
37,
52,
30,
0,
60,
90,
1
],
[
37,
52,
17,
0,
60,
90,
1
],
[
37,
52,
17,
0,
60,
90,
0
],
[
37,
52,
30,
0,
60,
90,
0
],
[
16,
42,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|teal|><|star|>": ["<|10-6|>", 18]}] | [{"<|cyan|><|cylinder|>": ["<|6-20|>", 18]}] | LOCATE OBJECTS:
Target Object: <|teal|><|star|> found at <|10-6|> with height 18
Target Placement Location: <|cyan|><|cylinder|> at <|6-20|> with height 18
PLAN ACTIONS:
Step 1: Move above <|teal|><|star|> at <|10-6|> with height 30
Step 2: Lower to <|teal|><|star|> at <|10-6|> with height 18
Step 3: Close gripper on <... | [{"cyan-cylinder": [80, 24, 18]}, {"yellow-triangular prism": [35, 67, 17]}, {"black-star": [48, 30, 17]}, {"teal-star": [25, 42, 18]}, {"blue-cylinder": [60, 87, 18]}, {"azure-cube": [82, 73, 18]}, {"yellow-cube": [60, 70, 17]}] | Stack the teal star on top of the cyan cylinder | [
[
25,
42,
30,
0,
60,
90,
1
],
[
25,
42,
18,
0,
60,
90,
1
],
[
25,
42,
18,
0,
60,
90,
0
],
[
25,
42,
30,
0,
60,
90,
0
],
[
80,
24,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|purple|><|triangular prism|>": ["<|12-5|>", 18]}] | [{"<|red|><|container|>": ["<|18-16|>", 18]}] | LOCATE OBJECTS:
Target Object: <|purple|><|triangular prism|> found at <|12-5|> with height 18
Target Placement Location: <|red|><|container|> at <|18-16|> with height 18
PLAN ACTIONS:
Step 1: Move above <|purple|><|triangular prism|> at <|12-5|> with height 30
Step 2: Lower to <|purple|><|triangular prism|> at <|12-5|... | [{"purple-triangular prism": [21, 50, 18]}, {"rose-moon": [39, 82, 18]}, {"rose-cube": [50, 32, 17]}, {"teal-cube": [80, 52, 18]}, {"red-container": [66, 72, 18]}, {"gray-moon": [76, 53, 18]}, {"azure-star": [66, 29, 17]}] | Pick up the purple triangular prism and place it into the red container | [
[
21,
50,
30,
0,
60,
90,
1
],
[
21,
50,
18,
0,
60,
90,
1
],
[
21,
50,
18,
0,
60,
90,
0
],
[
21,
50,
30,
0,
60,
90,
0
],
[
66,
72,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|lime|><|triangular prism|>": ["<|10-10|>", 18]}] | [{"<|gray|><|cube|>": ["<|13-15|>", 17]}] | LOCATE OBJECTS:
Target Object: <|lime|><|triangular prism|> found at <|10-10|> with height 18
Target Placement Location: <|gray|><|cube|> at <|13-15|> with height 17
PLAN ACTIONS:
Step 1: Move above <|lime|><|triangular prism|> at <|10-10|> with height 30
Step 2: Lower to <|lime|><|triangular prism|> at <|10-10|> with ... | [{"gray-cube": [62, 55, 17]}, {"lime-triangular prism": [42, 41, 18]}, {"magenta-star": [26, 84, 17]}, {"rose-moon": [88, 73, 18]}, {"black-star": [53, 48, 17]}, {"purple-triangular prism": [25, 24, 18]}, {"green-star": [38, 89, 17]}] | Stack the lime triangular prism on top of the gray cube | [
[
42,
41,
30,
0,
60,
90,
1
],
[
42,
41,
18,
0,
60,
90,
1
],
[
42,
41,
18,
0,
60,
90,
0
],
[
42,
41,
30,
0,
60,
90,
0
],
[
62,
55,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|yellow|><|star|>": ["<|14-15|>", 18]}] | [{"<|gray|><|container|>": ["<|2-22|>", 17]}] | LOCATE OBJECTS:
Target Object: <|yellow|><|star|> found at <|14-15|> with height 18
Target Placement Location: <|gray|><|container|> at <|2-22|> with height 17
PLAN ACTIONS:
Step 1: Move above <|yellow|><|star|> at <|14-15|> with height 30
Step 2: Lower to <|yellow|><|star|> at <|14-15|> with height 18
Step 3: Close gr... | [{"violet-cylinder": [77, 76, 17]}, {"navy-triangular prism": [55, 56, 18]}, {"black-star": [62, 41, 17]}, {"yellow-star": [63, 59, 18]}, {"gray-container": [88, 10, 17]}, {"blue-star": [35, 25, 18]}] | Pick up the yellow star and place it into the gray container | [
[
63,
59,
30,
0,
60,
90,
1
],
[
63,
59,
18,
0,
60,
90,
1
],
[
63,
59,
18,
0,
60,
90,
0
],
[
63,
59,
30,
0,
60,
90,
0
],
[
88,
10,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|green|><|cube|>": ["<|18-21|>", 17]}] | [{"<|white|><|star|>": ["<|15-16|>", 18]}] | LOCATE OBJECTS:
Target Object: <|green|><|cube|> found at <|18-21|> with height 17
Target Placement Location: <|white|><|star|> at <|15-16|> with height 18
PLAN ACTIONS:
Step 1: Move above <|green|><|cube|> at <|18-21|> with height 30
Step 2: Lower to <|green|><|cube|> at <|18-21|> with height 17
Step 3: Close gripper ... | [{"white-star": [64, 62, 18]}, {"azure-cylinder": [20, 66, 18]}, {"navy-cylinder": [58, 56, 17]}, {"green-cube": [84, 74, 17]}, {"azure-triangular prism": [68, 41, 18]}] | Stack the green cube on top of the white star | [
[
84,
74,
30,
0,
60,
90,
1
],
[
84,
74,
17,
0,
60,
90,
1
],
[
84,
74,
17,
0,
60,
90,
0
],
[
84,
74,
30,
0,
60,
90,
0
],
[
64,
62,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|silver|><|star|>": ["<|14-13|>", 17]}] | [{"<|azure|><|cube|>": ["<|21-8|>", 19]}] | LOCATE OBJECTS:
Target Object: <|silver|><|star|> found at <|14-13|> with height 17
Target Placement Location: <|azure|><|cube|> at <|21-8|> with height 19
PLAN ACTIONS:
Step 1: Move above <|silver|><|star|> at <|14-13|> with height 30
Step 2: Lower to <|silver|><|star|> at <|14-13|> with height 17
Step 3: Close grippe... | [{"black-cube": [21, 42, 17]}, {"silver-star": [54, 59, 17]}, {"blue-cube": [76, 71, 17]}, {"azure-cube": [34, 84, 19]}, {"maroon-star": [30, 52, 18]}, {"blue-cylinder": [85, 85, 17]}, {"red-triangular prism": [40, 24, 18]}] | Stack the silver star on top of the azure cube | [
[
54,
59,
30,
0,
60,
90,
1
],
[
54,
59,
17,
0,
60,
90,
1
],
[
54,
59,
17,
0,
60,
90,
0
],
[
54,
59,
30,
0,
60,
90,
0
],
[
34,
84,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|green|><|star|>": ["<|8-13|>", 17]}] | [{"<|silver|><|cube|>": ["<|6-3|>", 17]}] | LOCATE OBJECTS:
Target Object: <|green|><|star|> found at <|8-13|> with height 17
Target Placement Location: <|silver|><|cube|> at <|6-3|> with height 17
PLAN ACTIONS:
Step 1: Move above <|green|><|star|> at <|8-13|> with height 30
Step 2: Lower to <|green|><|star|> at <|8-13|> with height 17
Step 3: Close gripper on <... | [{"green-cylinder": [45, 25, 17]}, {"black-moon": [47, 40, 17]}, {"white-moon": [71, 84, 17]}, {"maroon-star": [84, 56, 17]}, {"silver-cube": [13, 27, 17]}, {"olive-cube": [64, 88, 18]}, {"green-star": [53, 33, 17]}] | Stack the green star on top of the silver cube | [
[
53,
33,
30,
0,
60,
90,
1
],
[
53,
33,
17,
0,
60,
90,
1
],
[
53,
33,
17,
0,
60,
90,
0
],
[
53,
33,
30,
0,
60,
90,
0
],
[
13,
27,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|violet|><|cylinder|>": ["<|17-14|>", 17]}] | [{"<|violet|><|moon|>": ["<|19-15|>", 17]}] | LOCATE OBJECTS:
Target Object: <|violet|><|cylinder|> found at <|17-14|> with height 17
Target Placement Location: <|violet|><|moon|> at <|19-15|> with height 17
PLAN ACTIONS:
Step 1: Move above <|violet|><|cylinder|> at <|17-14|> with height 30
Step 2: Lower to <|violet|><|cylinder|> at <|17-14|> with height 17
Step 3... | [{"yellow-star": [20, 35, 17]}, {"violet-cylinder": [57, 71, 17]}, {"lime-cube": [71, 21, 17]}, {"azure-cube": [68, 32, 17]}, {"azure-cylinder": [23, 84, 18]}, {"violet-moon": [63, 77, 17]}, {"purple-cube": [41, 56, 18]}] | Stack the violet cylinder on top of the violet moon | [
[
57,
71,
30,
0,
60,
90,
1
],
[
57,
71,
17,
0,
60,
90,
1
],
[
57,
71,
17,
0,
60,
90,
0
],
[
57,
71,
30,
0,
60,
90,
0
],
[
63,
77,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|olive|><|star|>": ["<|7-17|>", 18]}] | [{"<|olive|><|container|>": ["<|6-13|>", 19]}] | LOCATE OBJECTS:
Target Object: <|olive|><|star|> found at <|7-17|> with height 18
Target Placement Location: <|olive|><|container|> at <|6-13|> with height 19
PLAN ACTIONS:
Step 1: Move above <|olive|><|star|> at <|7-17|> with height 30
Step 2: Lower to <|olive|><|star|> at <|7-17|> with height 18
Step 3: Close gripper... | [{"teal-triangular prism": [51, 78, 18]}, {"olive-star": [68, 31, 18]}, {"violet-moon": [85, 32, 18]}, {"black-star": [76, 40, 17]}, {"olive-container": [54, 24, 19]}, {"white-star": [37, 34, 18]}] | Pick up the olive star and place it into the olive container | [
[
68,
31,
30,
0,
60,
90,
1
],
[
68,
31,
18,
0,
60,
90,
1
],
[
68,
31,
18,
0,
60,
90,
0
],
[
68,
31,
30,
0,
60,
90,
0
],
[
54,
24,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|white|><|triangular prism|>": ["<|17-14|>", 18]}] | [{"<|red|><|triangular prism|>": ["<|9-2|>", 17]}] | LOCATE OBJECTS:
Target Object: <|white|><|triangular prism|> found at <|17-14|> with height 18
Target Placement Location: <|red|><|triangular prism|> at <|9-2|> with height 17
PLAN ACTIONS:
Step 1: Move above <|white|><|triangular prism|> at <|17-14|> with height 30
Step 2: Lower to <|white|><|triangular prism|> at <|1... | [{"teal-cube": [84, 46, 17]}, {"lime-star": [85, 30, 17]}, {"white-triangular prism": [59, 71, 18]}, {"red-triangular prism": [11, 38, 17]}, {"magenta-triangular prism": [56, 32, 18]}, {"blue-star": [70, 42, 18]}, {"teal-triangular prism": [24, 39, 18]}] | Stack the white triangular prism on top of the red triangular prism | [
[
59,
71,
30,
0,
60,
90,
1
],
[
59,
71,
18,
0,
60,
90,
1
],
[
59,
71,
18,
0,
60,
90,
0
],
[
59,
71,
30,
0,
60,
90,
0
],
[
11,
38,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|lime|><|moon|>": ["<|14-19|>", 18]}] | [{"<|silver|><|container|>": ["<|14-6|>", 18]}] | LOCATE OBJECTS:
Target Object: <|lime|><|moon|> found at <|14-19|> with height 18
Target Placement Location: <|silver|><|container|> at <|14-6|> with height 18
PLAN ACTIONS:
Step 1: Move above <|lime|><|moon|> at <|14-19|> with height 30
Step 2: Lower to <|lime|><|moon|> at <|14-19|> with height 18
Step 3: Close grippe... | [{"lime-moon": [79, 57, 18]}, {"cyan-moon": [28, 41, 17]}, {"white-moon": [49, 84, 17]}, {"silver-container": [25, 57, 18]}, {"navy-cylinder": [83, 48, 17]}] | Pick up the lime moon and place it into the silver container | [
[
79,
57,
30,
0,
60,
90,
1
],
[
79,
57,
18,
0,
60,
90,
1
],
[
79,
57,
18,
0,
60,
90,
0
],
[
79,
57,
30,
0,
60,
90,
0
],
[
25,
57,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|olive|><|moon|>": ["<|15-7|>", 17]}] | [{"<|lime|><|cube|>": ["<|12-8|>", 17]}] | LOCATE OBJECTS:
Target Object: <|olive|><|moon|> found at <|15-7|> with height 17
Target Placement Location: <|lime|><|cube|> at <|12-8|> with height 17
PLAN ACTIONS:
Step 1: Move above <|olive|><|moon|> at <|15-7|> with height 30
Step 2: Lower to <|olive|><|moon|> at <|15-7|> with height 17
Step 3: Close gripper on <|... | [{"silver-star": [72, 50, 18]}, {"yellow-cylinder": [79, 69, 17]}, {"olive-moon": [29, 62, 17]}, {"lime-cube": [34, 49, 17]}, {"azure-cylinder": [47, 48, 18]}, {"magenta-triangular prism": [63, 55, 17]}, {"rose-moon": [72, 69, 17]}] | Stack the olive moon on top of the lime cube | [
[
29,
62,
30,
0,
60,
90,
1
],
[
29,
62,
17,
0,
60,
90,
1
],
[
29,
62,
17,
0,
60,
90,
0
],
[
29,
62,
30,
0,
60,
90,
0
],
[
34,
49,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|purple|><|star|>": ["<|5-12|>", 17]}] | [{"<|rose|><|container|>": ["<|22-10|>", 19]}] | LOCATE OBJECTS:
Target Object: <|purple|><|star|> found at <|5-12|> with height 17
Target Placement Location: <|rose|><|container|> at <|22-10|> with height 19
PLAN ACTIONS:
Step 1: Move above <|purple|><|star|> at <|5-12|> with height 30
Step 2: Lower to <|purple|><|star|> at <|5-12|> with height 17
Step 3: Close grip... | [{"purple-star": [50, 20, 17]}, {"gray-star": [39, 40, 17]}, {"green-cube": [51, 28, 17]}, {"teal-star": [22, 65, 18]}, {"yellow-moon": [59, 29, 18]}, {"olive-star": [26, 40, 18]}, {"rose-container": [41, 88, 19]}] | Pick up the purple star and place it into the rose container | [
[
50,
20,
30,
0,
60,
90,
1
],
[
50,
20,
17,
0,
60,
90,
1
],
[
50,
20,
17,
0,
60,
90,
0
],
[
50,
20,
30,
0,
60,
90,
0
],
[
41,
88,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|olive|><|triangular prism|>": ["<|19-8|>", 18]}] | [{"<|white|><|container|>": ["<|17-22|>", 17]}] | LOCATE OBJECTS:
Target Object: <|olive|><|triangular prism|> found at <|19-8|> with height 18
Target Placement Location: <|white|><|container|> at <|17-22|> with height 17
PLAN ACTIONS:
Step 1: Move above <|olive|><|triangular prism|> at <|19-8|> with height 30
Step 2: Lower to <|olive|><|triangular prism|> at <|19-8|>... | [{"olive-triangular prism": [34, 76, 18]}, {"violet-cube": [56, 22, 17]}, {"cyan-moon": [24, 33, 17]}, {"white-container": [88, 69, 17]}, {"yellow-moon": [71, 33, 17]}] | Pick up the olive triangular prism and place it into the white container | [
[
34,
76,
30,
0,
60,
90,
1
],
[
34,
76,
18,
0,
60,
90,
1
],
[
34,
76,
18,
0,
60,
90,
0
],
[
34,
76,
30,
0,
60,
90,
0
],
[
88,
69,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|black|><|cube|>": ["<|7-13|>", 17]}] | [{"<|cyan|><|container|>": ["<|3-10|>", 17]}] | LOCATE OBJECTS:
Target Object: <|black|><|cube|> found at <|7-13|> with height 17
Target Placement Location: <|cyan|><|container|> at <|3-10|> with height 17
PLAN ACTIONS:
Step 1: Move above <|black|><|cube|> at <|7-13|> with height 30
Step 2: Lower to <|black|><|cube|> at <|7-13|> with height 17
Step 3: Close gripper ... | [{"violet-moon": [25, 80, 18]}, {"teal-star": [29, 83, 18]}, {"navy-moon": [50, 48, 17]}, {"purple-star": [88, 25, 18]}, {"cyan-container": [40, 12, 17]}, {"black-cube": [55, 30, 17]}] | Pick up the black cube and place it into the cyan container | [
[
55,
30,
30,
0,
60,
90,
1
],
[
55,
30,
17,
0,
60,
90,
1
],
[
55,
30,
17,
0,
60,
90,
0
],
[
55,
30,
30,
0,
60,
90,
0
],
[
40,
12,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|blue|><|cylinder|>": ["<|22-15|>", 17]}] | [{"<|green|><|cube|>": ["<|22-7|>", 17]}] | LOCATE OBJECTS:
Target Object: <|blue|><|cylinder|> found at <|22-15|> with height 17
Target Placement Location: <|green|><|cube|> at <|22-7|> with height 17
PLAN ACTIONS:
Step 1: Move above <|blue|><|cylinder|> at <|22-15|> with height 30
Step 2: Lower to <|blue|><|cylinder|> at <|22-15|> with height 17
Step 3: Close ... | [{"blue-moon": [54, 26, 18]}, {"green-cube": [30, 89, 17]}, {"blue-cylinder": [63, 88, 17]}, {"red-moon": [59, 22, 18]}, {"olive-cylinder": [57, 41, 17]}, {"red-cube": [68, 51, 18]}] | Stack the blue cylinder on top of the green cube | [
[
63,
88,
30,
0,
60,
90,
1
],
[
63,
88,
17,
0,
60,
90,
1
],
[
63,
88,
17,
0,
60,
90,
0
],
[
63,
88,
30,
0,
60,
90,
0
],
[
30,
89,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|olive|><|triangular prism|>": ["<|14-20|>", 18]}] | [{"<|magenta|><|container|>": ["<|12-3|>", 17]}] | LOCATE OBJECTS:
Target Object: <|olive|><|triangular prism|> found at <|14-20|> with height 18
Target Placement Location: <|magenta|><|container|> at <|12-3|> with height 17
PLAN ACTIONS:
Step 1: Move above <|olive|><|triangular prism|> at <|14-20|> with height 30
Step 2: Lower to <|olive|><|triangular prism|> at <|14-... | [{"magenta-container": [14, 51, 17]}, {"teal-cube": [31, 78, 17]}, {"olive-triangular prism": [81, 58, 18]}, {"gray-triangular prism": [49, 21, 18]}, {"cyan-moon": [39, 26, 18]}, {"azure-cylinder": [26, 60, 17]}] | Pick up the olive triangular prism and place it into the magenta container | [
[
81,
58,
30,
0,
60,
90,
1
],
[
81,
58,
18,
0,
60,
90,
1
],
[
81,
58,
18,
0,
60,
90,
0
],
[
81,
58,
30,
0,
60,
90,
0
],
[
14,
51,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|navy|><|cube|>": ["<|10-7|>", 18]}] | [{"<|blue|><|star|>": ["<|15-19|>", 18]}] | LOCATE OBJECTS:
Target Object: <|navy|><|cube|> found at <|10-7|> with height 18
Target Placement Location: <|blue|><|star|> at <|15-19|> with height 18
PLAN ACTIONS:
Step 1: Move above <|navy|><|cube|> at <|10-7|> with height 30
Step 2: Lower to <|navy|><|cube|> at <|10-7|> with height 18
Step 3: Close gripper on <|na... | [{"navy-cube": [28, 41, 18]}, {"blue-star": [77, 61, 18]}, {"teal-triangular prism": [55, 20, 17]}, {"olive-cylinder": [64, 41, 17]}, {"blue-moon": [86, 22, 18]}, {"purple-cylinder": [38, 39, 18]}] | Stack the navy cube on top of the blue star | [
[
28,
41,
30,
0,
60,
90,
1
],
[
28,
41,
18,
0,
60,
90,
1
],
[
28,
41,
18,
0,
60,
90,
0
],
[
28,
41,
30,
0,
60,
90,
0
],
[
77,
61,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|blue|><|cube|>": ["<|11-6|>", 17]}] | [{"<|yellow|><|container|>": ["<|5-13|>", 18]}] | LOCATE OBJECTS:
Target Object: <|blue|><|cube|> found at <|11-6|> with height 17
Target Placement Location: <|yellow|><|container|> at <|5-13|> with height 18
PLAN ACTIONS:
Step 1: Move above <|blue|><|cube|> at <|11-6|> with height 30
Step 2: Lower to <|blue|><|cube|> at <|11-6|> with height 17
Step 3: Close gripper o... | [{"black-star": [30, 89, 18]}, {"yellow-container": [53, 20, 18]}, {"maroon-cylinder": [76, 55, 18]}, {"yellow-star": [88, 68, 18]}, {"blue-cube": [27, 45, 17]}, {"cyan-cylinder": [86, 36, 18]}] | Pick up the blue cube and place it into the yellow container | [
[
27,
45,
30,
0,
60,
90,
1
],
[
27,
45,
17,
0,
60,
90,
1
],
[
27,
45,
17,
0,
60,
90,
0
],
[
27,
45,
30,
0,
60,
90,
0
],
[
53,
20,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|silver|><|cylinder|>": ["<|16-9|>", 18]}] | [{"<|azure|><|cylinder|>": ["<|18-5|>", 17]}] | LOCATE OBJECTS:
Target Object: <|silver|><|cylinder|> found at <|16-9|> with height 18
Target Placement Location: <|azure|><|cylinder|> at <|18-5|> with height 17
PLAN ACTIONS:
Step 1: Move above <|silver|><|cylinder|> at <|16-9|> with height 30
Step 2: Lower to <|silver|><|cylinder|> at <|16-9|> with height 18
Step 3:... | [{"azure-cube": [31, 31, 18]}, {"purple-moon": [27, 76, 17]}, {"lime-cylinder": [88, 87, 17]}, {"violet-cube": [56, 81, 18]}, {"azure-cylinder": [22, 73, 17]}, {"silver-cylinder": [37, 64, 18]}] | Stack the silver cylinder on top of the azure cylinder | [
[
37,
64,
30,
0,
60,
90,
1
],
[
37,
64,
18,
0,
60,
90,
1
],
[
37,
64,
18,
0,
60,
90,
0
],
[
37,
64,
30,
0,
60,
90,
0
],
[
22,
73,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|purple|><|cylinder|>": ["<|22-14|>", 17]}] | [{"<|purple|><|moon|>": ["<|10-3|>", 19]}] | LOCATE OBJECTS:
Target Object: <|purple|><|cylinder|> found at <|22-14|> with height 17
Target Placement Location: <|purple|><|moon|> at <|10-3|> with height 19
PLAN ACTIONS:
Step 1: Move above <|purple|><|cylinder|> at <|22-14|> with height 30
Step 2: Lower to <|purple|><|cylinder|> at <|22-14|> with height 17
Step 3:... | [{"purple-moon": [14, 43, 19]}, {"green-triangular prism": [77, 64, 17]}, {"violet-cube": [20, 51, 17]}, {"navy-cube": [85, 42, 18]}, {"purple-cube": [46, 37, 18]}, {"purple-cylinder": [58, 90, 17]}] | Stack the purple cylinder on top of the purple moon | [
[
58,
90,
30,
0,
60,
90,
1
],
[
58,
90,
17,
0,
60,
90,
1
],
[
58,
90,
17,
0,
60,
90,
0
],
[
58,
90,
30,
0,
60,
90,
0
],
[
14,
43,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|magenta|><|cylinder|>": ["<|9-13|>", 17]}] | [{"<|olive|><|container|>": ["<|6-20|>", 17]}] | LOCATE OBJECTS:
Target Object: <|magenta|><|cylinder|> found at <|9-13|> with height 17
Target Placement Location: <|olive|><|container|> at <|6-20|> with height 17
PLAN ACTIONS:
Step 1: Move above <|magenta|><|cylinder|> at <|9-13|> with height 30
Step 2: Lower to <|magenta|><|cylinder|> at <|9-13|> with height 17
Ste... | [{"olive-container": [81, 24, 17]}, {"navy-cube": [65, 52, 17]}, {"olive-triangular prism": [27, 34, 17]}, {"magenta-cylinder": [55, 39, 17]}, {"teal-star": [60, 55, 17]}, {"teal-triangular prism": [27, 73, 17]}] | Pick up the magenta cylinder and place it into the olive container | [
[
55,
39,
30,
0,
60,
90,
1
],
[
55,
39,
17,
0,
60,
90,
1
],
[
55,
39,
17,
0,
60,
90,
0
],
[
55,
39,
30,
0,
60,
90,
0
],
[
81,
24,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|magenta|><|cylinder|>": ["<|6-10|>", 17]}] | [{"<|olive|><|moon|>": ["<|5-15|>", 18]}] | LOCATE OBJECTS:
Target Object: <|magenta|><|cylinder|> found at <|6-10|> with height 17
Target Placement Location: <|olive|><|moon|> at <|5-15|> with height 18
PLAN ACTIONS:
Step 1: Move above <|magenta|><|cylinder|> at <|6-10|> with height 30
Step 2: Lower to <|magenta|><|cylinder|> at <|6-10|> with height 17
Step 3: ... | [{"olive-moon": [62, 23, 18]}, {"blue-moon": [90, 51, 17]}, {"maroon-triangular prism": [53, 34, 17]}, {"lime-cylinder": [29, 89, 17]}, {"magenta-cylinder": [43, 25, 17]}] | Stack the magenta cylinder on top of the olive moon | [
[
43,
25,
30,
0,
60,
90,
1
],
[
43,
25,
17,
0,
60,
90,
1
],
[
43,
25,
17,
0,
60,
90,
0
],
[
43,
25,
30,
0,
60,
90,
0
],
[
62,
23,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|white|><|triangular prism|>": ["<|12-20|>", 18]}] | [{"<|azure|><|triangular prism|>": ["<|17-22|>", 17]}] | LOCATE OBJECTS:
Target Object: <|white|><|triangular prism|> found at <|12-20|> with height 18
Target Placement Location: <|azure|><|triangular prism|> at <|17-22|> with height 17
PLAN ACTIONS:
Step 1: Move above <|white|><|triangular prism|> at <|12-20|> with height 30
Step 2: Lower to <|white|><|triangular prism|> at... | [{"yellow-cylinder": [73, 26, 18]}, {"purple-triangular prism": [75, 64, 18]}, {"white-triangular prism": [81, 49, 18]}, {"rose-cube": [31, 83, 18]}, {"azure-triangular prism": [88, 68, 17]}] | Stack the white triangular prism on top of the azure triangular prism | [
[
81,
49,
30,
0,
60,
90,
1
],
[
81,
49,
18,
0,
60,
90,
1
],
[
81,
49,
18,
0,
60,
90,
0
],
[
81,
49,
30,
0,
60,
90,
0
],
[
88,
68,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|rose|><|star|>": ["<|10-5|>", 18]}] | [{"<|cyan|><|container|>": ["<|9-10|>", 19]}] | LOCATE OBJECTS:
Target Object: <|rose|><|star|> found at <|10-5|> with height 18
Target Placement Location: <|cyan|><|container|> at <|9-10|> with height 19
PLAN ACTIONS:
Step 1: Move above <|rose|><|star|> at <|10-5|> with height 30
Step 2: Lower to <|rose|><|star|> at <|10-5|> with height 18
Step 3: Close gripper on ... | [{"cyan-container": [43, 38, 19]}, {"olive-star": [80, 58, 18]}, {"rose-star": [23, 42, 18]}, {"black-star": [63, 60, 17]}, {"rose-cube": [39, 21, 18]}] | Pick up the rose star and place it into the cyan container | [
[
23,
42,
30,
0,
60,
90,
1
],
[
23,
42,
18,
0,
60,
90,
1
],
[
23,
42,
18,
0,
60,
90,
0
],
[
23,
42,
30,
0,
60,
90,
0
],
[
43,
38,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|olive|><|triangular prism|>": ["<|11-10|>", 18]}] | [{"<|green|><|cylinder|>": ["<|20-3|>", 19]}] | LOCATE OBJECTS:
Target Object: <|olive|><|triangular prism|> found at <|11-10|> with height 18
Target Placement Location: <|green|><|cylinder|> at <|20-3|> with height 19
PLAN ACTIONS:
Step 1: Move above <|olive|><|triangular prism|> at <|11-10|> with height 30
Step 2: Lower to <|olive|><|triangular prism|> at <|11-10|... | [{"maroon-cylinder": [42, 75, 18]}, {"olive-triangular prism": [43, 44, 18]}, {"green-cylinder": [13, 82, 19]}, {"cyan-cube": [88, 56, 18]}, {"rose-moon": [54, 81, 18]}, {"azure-cylinder": [41, 80, 17]}] | Stack the olive triangular prism on top of the green cylinder | [
[
43,
44,
30,
0,
60,
90,
1
],
[
43,
44,
18,
0,
60,
90,
1
],
[
43,
44,
18,
0,
60,
90,
0
],
[
43,
44,
30,
0,
60,
90,
0
],
[
13,
82,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|rose|><|cylinder|>": ["<|17-20|>", 18]}] | [{"<|magenta|><|container|>": ["<|4-12|>", 18]}] | LOCATE OBJECTS:
Target Object: <|rose|><|cylinder|> found at <|17-20|> with height 18
Target Placement Location: <|magenta|><|container|> at <|4-12|> with height 18
PLAN ACTIONS:
Step 1: Move above <|rose|><|cylinder|> at <|17-20|> with height 30
Step 2: Lower to <|rose|><|cylinder|> at <|17-20|> with height 18
Step 3:... | [{"rose-cylinder": [80, 70, 18]}, {"maroon-star": [30, 81, 18]}, {"magenta-cylinder": [39, 82, 18]}, {"white-cube": [66, 77, 17]}, {"blue-cylinder": [53, 35, 18]}, {"magenta-moon": [80, 77, 17]}, {"magenta-container": [49, 19, 18]}] | Pick up the rose cylinder and place it into the magenta container | [
[
80,
70,
30,
0,
60,
90,
1
],
[
80,
70,
18,
0,
60,
90,
1
],
[
80,
70,
18,
0,
60,
90,
0
],
[
80,
70,
30,
0,
60,
90,
0
],
[
49,
19,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|olive|><|cube|>": ["<|21-5|>", 17]}] | [{"<|olive|><|moon|>": ["<|17-12|>", 18]}] | LOCATE OBJECTS:
Target Object: <|olive|><|cube|> found at <|21-5|> with height 17
Target Placement Location: <|olive|><|moon|> at <|17-12|> with height 18
PLAN ACTIONS:
Step 1: Move above <|olive|><|cube|> at <|21-5|> with height 30
Step 2: Lower to <|olive|><|cube|> at <|21-5|> with height 17
Step 3: Close gripper on ... | [{"olive-moon": [49, 70, 18]}, {"magenta-star": [85, 66, 18]}, {"green-star": [45, 75, 17]}, {"olive-cube": [23, 86, 17]}, {"yellow-cube": [56, 89, 17]}, {"purple-cube": [74, 61, 18]}] | Stack the olive cube on top of the olive moon | [
[
23,
86,
30,
0,
60,
90,
1
],
[
23,
86,
17,
0,
60,
90,
1
],
[
23,
86,
17,
0,
60,
90,
0
],
[
23,
86,
30,
0,
60,
90,
0
],
[
49,
70,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|green|><|triangular prism|>": ["<|5-13|>", 17]}] | [{"<|maroon|><|container|>": ["<|3-3|>", 19]}] | LOCATE OBJECTS:
Target Object: <|green|><|triangular prism|> found at <|5-13|> with height 17
Target Placement Location: <|maroon|><|container|> at <|3-3|> with height 19
PLAN ACTIONS:
Step 1: Move above <|green|><|triangular prism|> at <|5-13|> with height 30
Step 2: Lower to <|green|><|triangular prism|> at <|5-13|> ... | [{"blue-triangular prism": [33, 77, 17]}, {"rose-cylinder": [70, 82, 18]}, {"teal-star": [65, 76, 18]}, {"green-triangular prism": [55, 22, 17]}, {"maroon-container": [13, 15, 19]}] | Pick up the green triangular prism and place it into the maroon container | [
[
55,
22,
30,
0,
60,
90,
1
],
[
55,
22,
17,
0,
60,
90,
1
],
[
55,
22,
17,
0,
60,
90,
0
],
[
55,
22,
30,
0,
60,
90,
0
],
[
13,
15,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|red|><|cube|>": ["<|8-17|>", 18]}] | [{"<|silver|><|container|>": ["<|21-2|>", 18]}] | LOCATE OBJECTS:
Target Object: <|red|><|cube|> found at <|8-17|> with height 18
Target Placement Location: <|silver|><|container|> at <|21-2|> with height 18
PLAN ACTIONS:
Step 1: Move above <|red|><|cube|> at <|8-17|> with height 30
Step 2: Lower to <|red|><|cube|> at <|8-17|> with height 18
Step 3: Close gripper on <... | [{"maroon-star": [62, 49, 17]}, {"teal-cube": [75, 44, 17]}, {"silver-container": [10, 84, 18]}, {"rose-moon": [37, 28, 17]}, {"navy-cube": [29, 39, 18]}, {"red-cube": [69, 35, 18]}] | Pick up the red cube and place it into the silver container | [
[
69,
35,
30,
0,
60,
90,
1
],
[
69,
35,
18,
0,
60,
90,
1
],
[
69,
35,
18,
0,
60,
90,
0
],
[
69,
35,
30,
0,
60,
90,
0
],
[
10,
84,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|azure|><|star|>": ["<|5-5|>", 18]}] | [{"<|green|><|container|>": ["<|22-15|>", 17]}] | LOCATE OBJECTS:
Target Object: <|azure|><|star|> found at <|5-5|> with height 18
Target Placement Location: <|green|><|container|> at <|22-15|> with height 17
PLAN ACTIONS:
Step 1: Move above <|azure|><|star|> at <|5-5|> with height 30
Step 2: Lower to <|azure|><|star|> at <|5-5|> with height 18
Step 3: Close gripper o... | [{"maroon-star": [40, 47, 18]}, {"olive-triangular prism": [36, 29, 17]}, {"green-container": [63, 88, 17]}, {"rose-moon": [26, 23, 17]}, {"azure-star": [23, 23, 18]}, {"purple-cube": [29, 25, 18]}] | Pick up the azure star and place it into the green container | [
[
23,
23,
30,
0,
60,
90,
1
],
[
23,
23,
18,
0,
60,
90,
1
],
[
23,
23,
18,
0,
60,
90,
0
],
[
23,
23,
30,
0,
60,
90,
0
],
[
63,
88,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|lime|><|triangular prism|>": ["<|20-17|>", 18]}] | [{"<|maroon|><|cube|>": ["<|14-8|>", 19]}] | LOCATE OBJECTS:
Target Object: <|lime|><|triangular prism|> found at <|20-17|> with height 18
Target Placement Location: <|maroon|><|cube|> at <|14-8|> with height 19
PLAN ACTIONS:
Step 1: Move above <|lime|><|triangular prism|> at <|20-17|> with height 30
Step 2: Lower to <|lime|><|triangular prism|> at <|20-17|> with... | [{"lime-triangular prism": [70, 81, 18]}, {"maroon-cube": [34, 57, 19]}, {"magenta-star": [44, 80, 18]}, {"maroon-star": [69, 65, 17]}, {"silver-cylinder": [38, 71, 18]}] | Stack the lime triangular prism on top of the maroon cube | [
[
70,
81,
30,
0,
60,
90,
1
],
[
70,
81,
18,
0,
60,
90,
1
],
[
70,
81,
18,
0,
60,
90,
0
],
[
70,
81,
30,
0,
60,
90,
0
],
[
34,
57,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|red|><|star|>": ["<|21-8|>", 18]}] | [{"<|maroon|><|cube|>": ["<|3-7|>", 18]}] | LOCATE OBJECTS:
Target Object: <|red|><|star|> found at <|21-8|> with height 18
Target Placement Location: <|maroon|><|cube|> at <|3-7|> with height 18
PLAN ACTIONS:
Step 1: Move above <|red|><|star|> at <|21-8|> with height 30
Step 2: Lower to <|red|><|star|> at <|21-8|> with height 18
Step 3: Close gripper on <|red|>... | [{"lime-star": [81, 59, 17]}, {"navy-moon": [58, 26, 17]}, {"maroon-cube": [30, 13, 18]}, {"black-moon": [29, 66, 18]}, {"navy-star": [73, 34, 17]}, {"cyan-triangular prism": [51, 63, 17]}, {"red-star": [33, 87, 18]}] | Stack the red star on top of the maroon cube | [
[
33,
87,
30,
0,
60,
90,
1
],
[
33,
87,
18,
0,
60,
90,
1
],
[
33,
87,
18,
0,
60,
90,
0
],
[
33,
87,
30,
0,
60,
90,
0
],
[
30,
13,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|teal|><|triangular prism|>": ["<|12-5|>", 18]}] | [{"<|navy|><|container|>": ["<|13-8|>", 18]}] | LOCATE OBJECTS:
Target Object: <|teal|><|triangular prism|> found at <|12-5|> with height 18
Target Placement Location: <|navy|><|container|> at <|13-8|> with height 18
PLAN ACTIONS:
Step 1: Move above <|teal|><|triangular prism|> at <|12-5|> with height 30
Step 2: Lower to <|teal|><|triangular prism|> at <|12-5|> with... | [{"lime-cylinder": [33, 58, 18]}, {"teal-triangular prism": [21, 48, 18]}, {"navy-container": [35, 53, 18]}, {"red-cube": [50, 77, 17]}, {"navy-moon": [86, 61, 18]}, {"cyan-triangular prism": [49, 29, 17]}, {"black-cube": [50, 21, 17]}] | Pick up the teal triangular prism and place it into the navy container | [
[
21,
48,
30,
0,
60,
90,
1
],
[
21,
48,
18,
0,
60,
90,
1
],
[
21,
48,
18,
0,
60,
90,
0
],
[
21,
48,
30,
0,
60,
90,
0
],
[
35,
53,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|blue|><|star|>": ["<|21-12|>", 17]}] | [{"<|teal|><|container|>": ["<|5-14|>", 19]}] | LOCATE OBJECTS:
Target Object: <|blue|><|star|> found at <|21-12|> with height 17
Target Placement Location: <|teal|><|container|> at <|5-14|> with height 19
PLAN ACTIONS:
Step 1: Move above <|blue|><|star|> at <|21-12|> with height 30
Step 2: Lower to <|blue|><|star|> at <|21-12|> with height 17
Step 3: Close gripper ... | [{"blue-star": [51, 85, 17]}, {"black-star": [71, 29, 18]}, {"teal-container": [57, 20, 19]}, {"azure-cylinder": [71, 71, 17]}, {"green-triangular prism": [45, 88, 17]}] | Pick up the blue star and place it into the teal container | [
[
51,
85,
30,
0,
60,
90,
1
],
[
51,
85,
17,
0,
60,
90,
1
],
[
51,
85,
17,
0,
60,
90,
0
],
[
51,
85,
30,
0,
60,
90,
0
],
[
57,
20,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|blue|><|cylinder|>": ["<|7-9|>", 18]}] | [{"<|violet|><|cylinder|>": ["<|3-18|>", 18]}] | LOCATE OBJECTS:
Target Object: <|blue|><|cylinder|> found at <|7-9|> with height 18
Target Placement Location: <|violet|><|cylinder|> at <|3-18|> with height 18
PLAN ACTIONS:
Step 1: Move above <|blue|><|cylinder|> at <|7-9|> with height 30
Step 2: Lower to <|blue|><|cylinder|> at <|7-9|> with height 18
Step 3: Close g... | [{"violet-cylinder": [72, 12, 18]}, {"silver-star": [46, 39, 18]}, {"purple-cylinder": [46, 34, 18]}, {"azure-cylinder": [63, 26, 18]}, {"blue-cylinder": [36, 30, 18]}, {"magenta-star": [37, 35, 18]}] | Stack the blue cylinder on top of the violet cylinder | [
[
36,
30,
30,
0,
60,
90,
1
],
[
36,
30,
18,
0,
60,
90,
1
],
[
36,
30,
18,
0,
60,
90,
0
],
[
36,
30,
30,
0,
60,
90,
0
],
[
72,
12,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|maroon|><|triangular prism|>": ["<|5-9|>", 17]}] | [{"<|green|><|container|>": ["<|18-12|>", 19]}] | LOCATE OBJECTS:
Target Object: <|maroon|><|triangular prism|> found at <|5-9|> with height 17
Target Placement Location: <|green|><|container|> at <|18-12|> with height 19
PLAN ACTIONS:
Step 1: Move above <|maroon|><|triangular prism|> at <|5-9|> with height 30
Step 2: Lower to <|maroon|><|triangular prism|> at <|5-9|>... | [{"gray-cube": [90, 28, 17]}, {"green-moon": [28, 44, 18]}, {"green-container": [48, 72, 19]}, {"maroon-triangular prism": [37, 23, 17]}, {"azure-moon": [46, 78, 17]}, {"white-triangular prism": [51, 74, 18]}] | Pick up the maroon triangular prism and place it into the green container | [
[
37,
23,
30,
0,
60,
90,
1
],
[
37,
23,
17,
0,
60,
90,
1
],
[
37,
23,
17,
0,
60,
90,
0
],
[
37,
23,
30,
0,
60,
90,
0
],
[
48,
72,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|blue|><|star|>": ["<|15-12|>", 17]}] | [{"<|gray|><|container|>": ["<|6-21|>", 18]}] | LOCATE OBJECTS:
Target Object: <|blue|><|star|> found at <|15-12|> with height 17
Target Placement Location: <|gray|><|container|> at <|6-21|> with height 18
PLAN ACTIONS:
Step 1: Move above <|blue|><|star|> at <|15-12|> with height 30
Step 2: Lower to <|blue|><|star|> at <|15-12|> with height 17
Step 3: Close gripper ... | [{"blue-star": [48, 62, 17]}, {"red-star": [41, 65, 17]}, {"blue-triangular prism": [22, 69, 18]}, {"gray-container": [85, 24, 18]}, {"gray-moon": [65, 24, 18]}, {"gray-cylinder": [51, 83, 18]}] | Pick up the blue star and place it into the gray container | [
[
48,
62,
30,
0,
60,
90,
1
],
[
48,
62,
17,
0,
60,
90,
1
],
[
48,
62,
17,
0,
60,
90,
0
],
[
48,
62,
30,
0,
60,
90,
0
],
[
85,
24,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
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