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 |
|---|---|---|---|---|---|---|
[{"<|teal|><|triangular prism|>": ["<|15-11|>", 18]}] | [{"<|teal|><|container|>": ["<|4-6|>", 18]}] | LOCATE OBJECTS:
Target Object: <|teal|><|triangular prism|> found at <|15-11|> with height 18
Target Placement Location: <|teal|><|container|> at <|4-6|> with height 18
PLAN ACTIONS:
Step 1: Move above <|teal|><|triangular prism|> at <|15-11|> with height 30
Step 2: Lower to <|teal|><|triangular prism|> at <|15-11|> wi... | [{"purple-moon": [44, 53, 18]}, {"yellow-triangular prism": [46, 54, 18]}, {"maroon-cube": [28, 53, 18]}, {"teal-container": [25, 16, 18]}, {"teal-triangular prism": [47, 60, 18]}] | Pick up the teal triangular prism and place it into the teal container | [
[
47,
60,
30,
0,
60,
90,
1
],
[
47,
60,
18,
0,
60,
90,
1
],
[
47,
60,
18,
0,
60,
90,
0
],
[
47,
60,
30,
0,
60,
90,
0
],
[
25,
16,
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|>": ["<|5-17|>", 18]}] | [{"<|navy|><|container|>": ["<|8-14|>", 19]}] | LOCATE OBJECTS:
Target Object: <|lime|><|moon|> found at <|5-17|> with height 18
Target Placement Location: <|navy|><|container|> at <|8-14|> with height 19
PLAN ACTIONS:
Step 1: Move above <|lime|><|moon|> at <|5-17|> with height 30
Step 2: Lower to <|lime|><|moon|> at <|5-17|> with height 18
Step 3: Close gripper on ... | [{"green-star": [23, 32, 18]}, {"cyan-moon": [62, 22, 18]}, {"lime-moon": [71, 20, 18]}, {"blue-cylinder": [22, 59, 17]}, {"red-star": [57, 62, 18]}, {"navy-container": [57, 35, 19]}, {"purple-star": [63, 54, 18]}] | Pick up the lime moon and place it into the navy container | [
[
71,
20,
30,
0,
60,
90,
1
],
[
71,
20,
18,
0,
60,
90,
1
],
[
71,
20,
18,
0,
60,
90,
0
],
[
71,
20,
30,
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0
],
[
57,
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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- ... |
[{"<|navy|><|cube|>": ["<|9-10|>", 17]}] | [{"<|blue|><|container|>": ["<|14-14|>", 18]}] | LOCATE OBJECTS:
Target Object: <|navy|><|cube|> found at <|9-10|> with height 17
Target Placement Location: <|blue|><|container|> at <|14-14|> with height 18
PLAN ACTIONS:
Step 1: Move above <|navy|><|cube|> at <|9-10|> with height 30
Step 2: Lower to <|navy|><|cube|> at <|9-10|> with height 17
Step 3: Close gripper on... | [{"cyan-cube": [44, 67, 17]}, {"magenta-moon": [85, 56, 17]}, {"navy-cube": [42, 37, 17]}, {"blue-container": [57, 57, 18]}, {"lime-star": [32, 34, 17]}] | Pick up the navy cube and place it into the blue container | [
[
42,
37,
30,
0,
60,
90,
1
],
[
42,
37,
17,
0,
60,
90,
1
],
[
42,
37,
17,
0,
60,
90,
0
],
[
42,
37,
30,
0,
60,
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0
],
[
57,
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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- ... |
[{"<|olive|><|star|>": ["<|16-16|>", 17]}] | [{"<|navy|><|container|>": ["<|19-4|>", 18]}] | LOCATE OBJECTS:
Target Object: <|olive|><|star|> found at <|16-16|> with height 17
Target Placement Location: <|navy|><|container|> at <|19-4|> with height 18
PLAN ACTIONS:
Step 1: Move above <|olive|><|star|> at <|16-16|> with height 30
Step 2: Lower to <|olive|><|star|> at <|16-16|> with height 17
Step 3: Close gripp... | [{"rose-triangular prism": [23, 52, 17]}, {"purple-cube": [45, 31, 17]}, {"olive-star": [65, 65, 17]}, {"navy-container": [19, 78, 18]}, {"red-moon": [71, 51, 18]}] | Pick up the olive star and place it into the navy container | [
[
65,
65,
30,
0,
60,
90,
1
],
[
65,
65,
17,
0,
60,
90,
1
],
[
65,
65,
17,
0,
60,
90,
0
],
[
65,
65,
30,
0,
60,
90,
0
],
[
19,
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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- ... |
[{"<|blue|><|cube|>": ["<|20-11|>", 18]}] | [{"<|purple|><|container|>": ["<|7-12|>", 19]}] | LOCATE OBJECTS:
Target Object: <|blue|><|cube|> found at <|20-11|> with height 18
Target Placement Location: <|purple|><|container|> at <|7-12|> with height 19
PLAN ACTIONS:
Step 1: Move above <|blue|><|cube|> at <|20-11|> with height 30
Step 2: Lower to <|blue|><|cube|> at <|20-11|> with height 18
Step 3: Close grippe... | [{"red-star": [41, 73, 17]}, {"purple-container": [49, 28, 19]}, {"rose-cylinder": [85, 39, 18]}, {"yellow-moon": [53, 79, 18]}, {"white-star": [27, 61, 18]}, {"blue-cube": [44, 81, 18]}, {"green-cylinder": [21, 88, 17]}] | Pick up the blue cube and place it into the purple container | [
[
44,
81,
30,
0,
60,
90,
1
],
[
44,
81,
18,
0,
60,
90,
1
],
[
44,
81,
18,
0,
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],
[
44,
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[
49,
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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|><|cylinder|>": ["<|19-11|>", 17]}] | [{"<|maroon|><|cylinder|>": ["<|6-6|>", 17]}] | LOCATE OBJECTS:
Target Object: <|olive|><|cylinder|> found at <|19-11|> with height 17
Target Placement Location: <|maroon|><|cylinder|> at <|6-6|> with height 17
PLAN ACTIONS:
Step 1: Move above <|olive|><|cylinder|> at <|19-11|> with height 30
Step 2: Lower to <|olive|><|cylinder|> at <|19-11|> with height 17
Step 3:... | [{"violet-cylinder": [87, 46, 17]}, {"maroon-cylinder": [26, 26, 17]}, {"yellow-cylinder": [71, 49, 18]}, {"olive-cylinder": [45, 79, 17]}, {"olive-moon": [87, 28, 17]}] | Stack the olive cylinder on top of the maroon cylinder | [
[
45,
79,
30,
0,
60,
90,
1
],
[
45,
79,
17,
0,
60,
90,
1
],
[
45,
79,
17,
0,
60,
90,
0
],
[
45,
79,
30,
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0
],
[
26,
26,
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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- ... |
[{"<|white|><|cube|>": ["<|16-15|>", 18]}] | [{"<|silver|><|container|>": ["<|16-10|>", 17]}] | LOCATE OBJECTS:
Target Object: <|white|><|cube|> found at <|16-15|> with height 18
Target Placement Location: <|silver|><|container|> at <|16-10|> with height 17
PLAN ACTIONS:
Step 1: Move above <|white|><|cube|> at <|16-15|> with height 30
Step 2: Lower to <|white|><|cube|> at <|16-15|> with height 18
Step 3: Close gr... | [{"rose-moon": [49, 25, 18]}, {"silver-container": [41, 64, 17]}, {"magenta-triangular prism": [84, 37, 18]}, {"teal-moon": [67, 88, 17]}, {"white-cube": [63, 67, 18]}, {"purple-moon": [74, 21, 17]}, {"teal-cube": [52, 51, 18]}] | Pick up the white cube and place it into the silver container | [
[
63,
67,
30,
0,
60,
90,
1
],
[
63,
67,
18,
0,
60,
90,
1
],
[
63,
67,
18,
0,
60,
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0
],
[
63,
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[
41,
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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- ... |
[{"<|green|><|cylinder|>": ["<|17-8|>", 17]}] | [{"<|olive|><|cylinder|>": ["<|11-18|>", 17]}] | LOCATE OBJECTS:
Target Object: <|green|><|cylinder|> found at <|17-8|> with height 17
Target Placement Location: <|olive|><|cylinder|> at <|11-18|> with height 17
PLAN ACTIONS:
Step 1: Move above <|green|><|cylinder|> at <|17-8|> with height 30
Step 2: Lower to <|green|><|cylinder|> at <|17-8|> with height 17
Step 3: C... | [{"maroon-triangular prism": [22, 33, 18]}, {"green-cylinder": [32, 70, 17]}, {"lime-cylinder": [64, 38, 17]}, {"olive-cylinder": [72, 45, 17]}, {"navy-moon": [82, 60, 17]}, {"violet-cylinder": [28, 61, 17]}, {"rose-triangular prism": [40, 78, 17]}] | Stack the green cylinder on top of the olive cylinder | [
[
32,
70,
30,
0,
60,
90,
1
],
[
32,
70,
17,
0,
60,
90,
1
],
[
32,
70,
17,
0,
60,
90,
0
],
[
32,
70,
30,
0,
60,
90,
0
],
[
72,
45,
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- ... |
[{"<|white|><|star|>": ["<|19-16|>", 17]}] | [{"<|yellow|><|moon|>": ["<|22-19|>", 17]}] | LOCATE OBJECTS:
Target Object: <|white|><|star|> found at <|19-16|> with height 17
Target Placement Location: <|yellow|><|moon|> at <|22-19|> with height 17
PLAN ACTIONS:
Step 1: Move above <|white|><|star|> at <|19-16|> with height 30
Step 2: Lower to <|white|><|star|> at <|19-16|> with height 17
Step 3: Close gripper... | [{"olive-moon": [27, 36, 17]}, {"maroon-moon": [75, 82, 18]}, {"white-star": [66, 78, 17]}, {"teal-moon": [77, 42, 18]}, {"yellow-moon": [78, 88, 17]}, {"purple-moon": [30, 89, 18]}, {"teal-star": [87, 41, 17]}] | Stack the white star on top of the yellow moon | [
[
66,
78,
30,
0,
60,
90,
1
],
[
66,
78,
17,
0,
60,
90,
1
],
[
66,
78,
17,
0,
60,
90,
0
],
[
66,
78,
30,
0,
60,
90,
0
],
[
78,
88,
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|><|triangular prism|>": ["<|9-6|>", 17]}] | [{"<|maroon|><|star|>": ["<|15-10|>", 18]}] | LOCATE OBJECTS:
Target Object: <|silver|><|triangular prism|> found at <|9-6|> with height 17
Target Placement Location: <|maroon|><|star|> at <|15-10|> with height 18
PLAN ACTIONS:
Step 1: Move above <|silver|><|triangular prism|> at <|9-6|> with height 30
Step 2: Lower to <|silver|><|triangular prism|> at <|9-6|> wit... | [{"cyan-star": [33, 55, 17]}, {"maroon-star": [41, 61, 18]}, {"black-moon": [79, 65, 18]}, {"silver-triangular prism": [25, 36, 17]}, {"gray-cylinder": [41, 86, 17]}] | Stack the silver triangular prism on top of the maroon star | [
[
25,
36,
30,
0,
60,
90,
1
],
[
25,
36,
17,
0,
60,
90,
1
],
[
25,
36,
17,
0,
60,
90,
0
],
[
25,
36,
30,
0,
60,
90,
0
],
[
41,
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- ... |
[{"<|navy|><|cube|>": ["<|18-17|>", 17]}] | [{"<|black|><|container|>": ["<|11-15|>", 19]}] | LOCATE OBJECTS:
Target Object: <|navy|><|cube|> found at <|18-17|> with height 17
Target Placement Location: <|black|><|container|> at <|11-15|> with height 19
PLAN ACTIONS:
Step 1: Move above <|navy|><|cube|> at <|18-17|> with height 30
Step 2: Lower to <|navy|><|cube|> at <|18-17|> with height 17
Step 3: Close grippe... | [{"gray-star": [67, 79, 18]}, {"gray-moon": [78, 47, 18]}, {"black-container": [60, 47, 19]}, {"navy-cube": [71, 72, 17]}, {"navy-star": [55, 20, 17]}, {"gray-cylinder": [28, 77, 17]}] | Pick up the navy cube and place it into the black container | [
[
71,
72,
30,
0,
60,
90,
1
],
[
71,
72,
17,
0,
60,
90,
1
],
[
71,
72,
17,
0,
60,
90,
0
],
[
71,
72,
30,
0,
60,
90,
0
],
[
60,
47,
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|>": ["<|15-13|>", 17]}] | [{"<|white|><|container|>": ["<|13-16|>", 17]}] | LOCATE OBJECTS:
Target Object: <|gray|><|triangular prism|> found at <|15-13|> with height 17
Target Placement Location: <|white|><|container|> at <|13-16|> with height 17
PLAN ACTIONS:
Step 1: Move above <|gray|><|triangular prism|> at <|15-13|> with height 30
Step 2: Lower to <|gray|><|triangular prism|> at <|15-13|>... | [{"black-triangular prism": [62, 87, 17]}, {"azure-cylinder": [39, 73, 18]}, {"gray-triangular prism": [52, 63, 17]}, {"white-container": [65, 53, 17]}, {"olive-cylinder": [42, 50, 18]}, {"lime-moon": [57, 54, 18]}, {"silver-moon": [69, 51, 18]}] | Pick up the gray triangular prism and place it into the white container | [
[
52,
63,
30,
0,
60,
90,
1
],
[
52,
63,
17,
0,
60,
90,
1
],
[
52,
63,
17,
0,
60,
90,
0
],
[
52,
63,
30,
0,
60,
90,
0
],
[
65,
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|>": ["<|18-14|>", 18]}] | [{"<|yellow|><|star|>": ["<|10-4|>", 18]}] | LOCATE OBJECTS:
Target Object: <|blue|><|star|> found at <|18-14|> with height 18
Target Placement Location: <|yellow|><|star|> at <|10-4|> with height 18
PLAN ACTIONS:
Step 1: Move above <|blue|><|star|> at <|18-14|> with height 30
Step 2: Lower to <|blue|><|star|> at <|18-14|> with height 18
Step 3: Close gripper on ... | [{"purple-cylinder": [72, 54, 18]}, {"cyan-star": [33, 43, 18]}, {"teal-moon": [25, 48, 17]}, {"white-cylinder": [75, 61, 17]}, {"yellow-star": [17, 40, 18]}, {"blue-star": [59, 72, 18]}] | Stack the blue star on top of the yellow star | [
[
59,
72,
30,
0,
60,
90,
1
],
[
59,
72,
18,
0,
60,
90,
1
],
[
59,
72,
18,
0,
60,
90,
0
],
[
59,
72,
30,
0,
60,
90,
0
],
[
17,
40,
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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|><|triangular prism|>": ["<|14-12|>", 18]}] | [{"<|blue|><|cylinder|>": ["<|9-22|>", 17]}] | LOCATE OBJECTS:
Target Object: <|rose|><|triangular prism|> found at <|14-12|> with height 18
Target Placement Location: <|blue|><|cylinder|> at <|9-22|> with height 17
PLAN ACTIONS:
Step 1: Move above <|rose|><|triangular prism|> at <|14-12|> with height 30
Step 2: Lower to <|rose|><|triangular prism|> at <|14-12|> wi... | [{"blue-moon": [27, 25, 18]}, {"rose-triangular prism": [50, 59, 18]}, {"violet-triangular prism": [56, 25, 18]}, {"blue-cylinder": [88, 39, 17]}, {"magenta-cylinder": [62, 72, 18]}] | Stack the rose triangular prism on top of the blue cylinder | [
[
50,
59,
30,
0,
60,
90,
1
],
[
50,
59,
18,
0,
60,
90,
1
],
[
50,
59,
18,
0,
60,
90,
0
],
[
50,
59,
30,
0,
60,
90,
0
],
[
88,
39,
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|><|moon|>": ["<|5-18|>", 18]}] | [{"<|yellow|><|triangular prism|>": ["<|22-19|>", 19]}] | LOCATE OBJECTS:
Target Object: <|yellow|><|moon|> found at <|5-18|> with height 18
Target Placement Location: <|yellow|><|triangular prism|> at <|22-19|> with height 19
PLAN ACTIONS:
Step 1: Move above <|yellow|><|moon|> at <|5-18|> with height 30
Step 2: Lower to <|yellow|><|moon|> at <|5-18|> with height 18
Step 3: C... | [{"yellow-triangular prism": [76, 89, 19]}, {"navy-star": [88, 28, 18]}, {"yellow-moon": [75, 23, 18]}, {"navy-cylinder": [40, 88, 17]}, {"purple-star": [80, 63, 17]}, {"white-cube": [51, 85, 18]}] | Stack the yellow moon on top of the yellow triangular prism | [
[
75,
23,
30,
0,
60,
90,
1
],
[
75,
23,
18,
0,
60,
90,
1
],
[
75,
23,
18,
0,
60,
90,
0
],
[
75,
23,
30,
0,
60,
90,
0
],
[
76,
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- ... |
[{"<|cyan|><|cylinder|>": ["<|15-17|>", 17]}] | [{"<|white|><|container|>": ["<|3-15|>", 18]}] | LOCATE OBJECTS:
Target Object: <|cyan|><|cylinder|> found at <|15-17|> with height 17
Target Placement Location: <|white|><|container|> at <|3-15|> with height 18
PLAN ACTIONS:
Step 1: Move above <|cyan|><|cylinder|> at <|15-17|> with height 30
Step 2: Lower to <|cyan|><|cylinder|> at <|15-17|> with height 17
Step 3: C... | [{"cyan-moon": [39, 78, 17]}, {"purple-star": [62, 72, 18]}, {"white-container": [62, 15, 18]}, {"cyan-cylinder": [70, 61, 17]}, {"red-triangular prism": [57, 58, 18]}] | Pick up the cyan cylinder and place it into the white container | [
[
70,
61,
30,
0,
60,
90,
1
],
[
70,
61,
17,
0,
60,
90,
1
],
[
70,
61,
17,
0,
60,
90,
0
],
[
70,
61,
30,
0,
60,
90,
0
],
[
62,
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- ... |
[{"<|yellow|><|cylinder|>": ["<|5-5|>", 18]}] | [{"<|violet|><|cylinder|>": ["<|14-14|>", 19]}] | LOCATE OBJECTS:
Target Object: <|yellow|><|cylinder|> found at <|5-5|> with height 18
Target Placement Location: <|violet|><|cylinder|> at <|14-14|> with height 19
PLAN ACTIONS:
Step 1: Move above <|yellow|><|cylinder|> at <|5-5|> with height 30
Step 2: Lower to <|yellow|><|cylinder|> at <|5-5|> with height 18
Step 3: ... | [{"violet-cylinder": [56, 58, 19]}, {"black-cylinder": [25, 43, 17]}, {"teal-triangular prism": [85, 62, 17]}, {"black-moon": [88, 61, 18]}, {"yellow-cylinder": [20, 22, 18]}] | Stack the yellow cylinder on top of the violet cylinder | [
[
20,
22,
30,
0,
60,
90,
1
],
[
20,
22,
18,
0,
60,
90,
1
],
[
20,
22,
18,
0,
60,
90,
0
],
[
20,
22,
30,
0,
60,
90,
0
],
[
56,
58,
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|><|triangular prism|>": ["<|16-17|>", 18]}] | [{"<|teal|><|container|>": ["<|5-17|>", 18]}] | LOCATE OBJECTS:
Target Object: <|rose|><|triangular prism|> found at <|16-17|> with height 18
Target Placement Location: <|teal|><|container|> at <|5-17|> with height 18
PLAN ACTIONS:
Step 1: Move above <|rose|><|triangular prism|> at <|16-17|> with height 30
Step 2: Lower to <|rose|><|triangular prism|> at <|16-17|> w... | [{"red-moon": [56, 84, 17]}, {"lime-cylinder": [87, 55, 17]}, {"teal-container": [68, 20, 18]}, {"rose-triangular prism": [69, 64, 18]}, {"magenta-moon": [40, 86, 17]}, {"black-cylinder": [53, 46, 18]}] | Pick up the rose triangular prism and place it into the teal container | [
[
69,
64,
30,
0,
60,
90,
1
],
[
69,
64,
18,
0,
60,
90,
1
],
[
69,
64,
18,
0,
60,
90,
0
],
[
69,
64,
30,
0,
60,
90,
0
],
[
68,
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- ... |
[{"<|rose|><|moon|>": ["<|6-14|>", 17]}] | [{"<|navy|><|star|>": ["<|7-3|>", 19]}] | LOCATE OBJECTS:
Target Object: <|rose|><|moon|> found at <|6-14|> with height 17
Target Placement Location: <|navy|><|star|> at <|7-3|> with height 19
PLAN ACTIONS:
Step 1: Move above <|rose|><|moon|> at <|6-14|> with height 30
Step 2: Lower to <|rose|><|moon|> at <|6-14|> with height 17
Step 3: Close gripper on <|rose... | [{"blue-moon": [22, 41, 17]}, {"navy-star": [15, 28, 19]}, {"azure-moon": [78, 35, 18]}, {"rose-moon": [59, 26, 17]}, {"black-moon": [83, 85, 17]}, {"black-star": [23, 67, 18]}, {"olive-moon": [34, 68, 18]}] | Stack the rose moon on top of the navy star | [
[
59,
26,
30,
0,
60,
90,
1
],
[
59,
26,
17,
0,
60,
90,
1
],
[
59,
26,
17,
0,
60,
90,
0
],
[
59,
26,
30,
0,
60,
90,
0
],
[
15,
28,
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|>": ["<|14-5|>", 17]}] | [{"<|green|><|container|>": ["<|14-14|>", 19]}] | LOCATE OBJECTS:
Target Object: <|maroon|><|star|> found at <|14-5|> with height 17
Target Placement Location: <|green|><|container|> at <|14-14|> with height 19
PLAN ACTIONS:
Step 1: Move above <|maroon|><|star|> at <|14-5|> with height 30
Step 2: Lower to <|maroon|><|star|> at <|14-5|> with height 17
Step 3: Close gri... | [{"maroon-star": [20, 56, 17]}, {"green-container": [58, 57, 19]}, {"green-cube": [47, 77, 18]}, {"gray-cube": [27, 28, 18]}, {"purple-cube": [40, 26, 18]}] | Pick up the maroon star and place it into the green 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
],
[
58,
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- ... |
[{"<|maroon|><|cube|>": ["<|16-9|>", 18]}] | [{"<|rose|><|container|>": ["<|13-7|>", 19]}] | LOCATE OBJECTS:
Target Object: <|maroon|><|cube|> found at <|16-9|> with height 18
Target Placement Location: <|rose|><|container|> at <|13-7|> with height 19
PLAN ACTIONS:
Step 1: Move above <|maroon|><|cube|> at <|16-9|> with height 30
Step 2: Lower to <|maroon|><|cube|> at <|16-9|> with height 18
Step 3: Close gripp... | [{"magenta-moon": [52, 30, 17]}, {"rose-container": [28, 52, 19]}, {"violet-star": [68, 38, 17]}, {"teal-cylinder": [59, 30, 17]}, {"green-cylinder": [57, 66, 18]}, {"navy-star": [50, 63, 18]}, {"maroon-cube": [38, 65, 18]}] | Pick up the maroon cube and place it into the rose container | [
[
38,
65,
30,
0,
60,
90,
1
],
[
38,
65,
18,
0,
60,
90,
1
],
[
38,
65,
18,
0,
60,
90,
0
],
[
38,
65,
30,
0,
60,
90,
0
],
[
28,
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- ... |
[{"<|white|><|cylinder|>": ["<|22-20|>", 17]}] | [{"<|silver|><|container|>": ["<|16-16|>", 18]}] | LOCATE OBJECTS:
Target Object: <|white|><|cylinder|> found at <|22-20|> with height 17
Target Placement Location: <|silver|><|container|> at <|16-16|> with height 18
PLAN ACTIONS:
Step 1: Move above <|white|><|cylinder|> at <|22-20|> with height 30
Step 2: Lower to <|white|><|cylinder|> at <|22-20|> with height 17
Step... | [{"cyan-star": [73, 60, 18]}, {"silver-container": [66, 67, 18]}, {"maroon-cylinder": [34, 80, 18]}, {"gray-cube": [29, 60, 18]}, {"white-cylinder": [80, 89, 17]}, {"lime-cube": [57, 88, 17]}] | Pick up the white cylinder and place it into the silver container | [
[
80,
89,
30,
0,
60,
90,
1
],
[
80,
89,
17,
0,
60,
90,
1
],
[
80,
89,
17,
0,
60,
90,
0
],
[
80,
89,
30,
0,
60,
90,
0
],
[
66,
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- ... |
[{"<|green|><|moon|>": ["<|12-10|>", 18]}] | [{"<|maroon|><|container|>": ["<|12-20|>", 17]}] | LOCATE OBJECTS:
Target Object: <|green|><|moon|> found at <|12-10|> with height 18
Target Placement Location: <|maroon|><|container|> at <|12-20|> with height 17
PLAN ACTIONS:
Step 1: Move above <|green|><|moon|> at <|12-10|> with height 30
Step 2: Lower to <|green|><|moon|> at <|12-10|> with height 18
Step 3: Close gr... | [{"rose-cube": [77, 70, 18]}, {"maroon-container": [82, 49, 17]}, {"green-moon": [43, 50, 18]}, {"cyan-star": [33, 44, 17]}, {"teal-triangular prism": [70, 23, 17]}] | Pick up the green moon and place it into the maroon container | [
[
43,
50,
30,
0,
60,
90,
1
],
[
43,
50,
18,
0,
60,
90,
1
],
[
43,
50,
18,
0,
60,
90,
0
],
[
43,
50,
30,
0,
60,
90,
0
],
[
82,
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- ... |
[{"<|rose|><|star|>": ["<|21-21|>", 17]}] | [{"<|silver|><|cube|>": ["<|13-22|>", 18]}] | LOCATE OBJECTS:
Target Object: <|rose|><|star|> found at <|21-21|> with height 17
Target Placement Location: <|silver|><|cube|> at <|13-22|> with height 18
PLAN ACTIONS:
Step 1: Move above <|rose|><|star|> at <|21-21|> with height 30
Step 2: Lower to <|rose|><|star|> at <|21-21|> with height 17
Step 3: Close gripper on... | [{"violet-star": [49, 31, 17]}, {"green-triangular prism": [65, 41, 17]}, {"silver-cube": [88, 54, 18]}, {"rose-star": [86, 85, 17]}, {"green-cube": [64, 26, 17]}] | Stack the rose star on top of the silver cube | [
[
86,
85,
30,
0,
60,
90,
1
],
[
86,
85,
17,
0,
60,
90,
1
],
[
86,
85,
17,
0,
60,
90,
0
],
[
86,
85,
30,
0,
60,
90,
0
],
[
88,
54,
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|><|triangular prism|>": ["<|8-15|>", 18]}] | [{"<|purple|><|container|>": ["<|17-21|>", 17]}] | LOCATE OBJECTS:
Target Object: <|violet|><|triangular prism|> found at <|8-15|> with height 18
Target Placement Location: <|purple|><|container|> at <|17-21|> with height 17
PLAN ACTIONS:
Step 1: Move above <|violet|><|triangular prism|> at <|8-15|> with height 30
Step 2: Lower to <|violet|><|triangular prism|> at <|8-... | [{"violet-triangular prism": [61, 32, 18]}, {"cyan-moon": [89, 66, 17]}, {"gray-triangular prism": [34, 60, 17]}, {"yellow-triangular prism": [56, 58, 18]}, {"purple-container": [84, 71, 17]}, {"teal-cube": [50, 50, 17]}, {"olive-star": [51, 44, 17]}] | Pick up the violet triangular prism and place it into the purple container | [
[
61,
32,
30,
0,
60,
90,
1
],
[
61,
32,
18,
0,
60,
90,
1
],
[
61,
32,
18,
0,
60,
90,
0
],
[
61,
32,
30,
0,
60,
90,
0
],
[
84,
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- ... |
[{"<|red|><|cube|>": ["<|10-13|>", 17]}] | [{"<|green|><|container|>": ["<|5-12|>", 17]}] | LOCATE OBJECTS:
Target Object: <|red|><|cube|> found at <|10-13|> with height 17
Target Placement Location: <|green|><|container|> at <|5-12|> with height 17
PLAN ACTIONS:
Step 1: Move above <|red|><|cube|> at <|10-13|> with height 30
Step 2: Lower to <|red|><|cube|> at <|10-13|> with height 17
Step 3: Close gripper on... | [{"silver-cube": [58, 88, 18]}, {"olive-cube": [84, 71, 17]}, {"red-cube": [55, 42, 17]}, {"yellow-cylinder": [75, 90, 17]}, {"magenta-triangular prism": [31, 25, 17]}, {"green-cube": [42, 32, 18]}, {"green-container": [50, 20, 17]}] | Pick up the red cube and place it into the green container | [
[
55,
42,
30,
0,
60,
90,
1
],
[
55,
42,
17,
0,
60,
90,
1
],
[
55,
42,
17,
0,
60,
90,
0
],
[
55,
42,
30,
0,
60,
90,
0
],
[
50,
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- ... |
[{"<|violet|><|triangular prism|>": ["<|16-6|>", 18]}] | [{"<|cyan|><|container|>": ["<|21-16|>", 17]}] | LOCATE OBJECTS:
Target Object: <|violet|><|triangular prism|> found at <|16-6|> with height 18
Target Placement Location: <|cyan|><|container|> at <|21-16|> with height 17
PLAN ACTIONS:
Step 1: Move above <|violet|><|triangular prism|> at <|16-6|> with height 30
Step 2: Lower to <|violet|><|triangular prism|> at <|16-6... | [{"lime-triangular prism": [78, 44, 18]}, {"violet-triangular prism": [27, 65, 18]}, {"navy-moon": [29, 89, 18]}, {"cyan-container": [65, 87, 17]}, {"maroon-moon": [45, 81, 17]}] | Pick up the violet triangular prism and place it into the cyan container | [
[
27,
65,
30,
0,
60,
90,
1
],
[
27,
65,
18,
0,
60,
90,
1
],
[
27,
65,
18,
0,
60,
90,
0
],
[
27,
65,
30,
0,
60,
90,
0
],
[
65,
87,
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|>": ["<|13-15|>", 18]}] | [{"<|white|><|container|>": ["<|17-14|>", 18]}] | LOCATE OBJECTS:
Target Object: <|magenta|><|triangular prism|> found at <|13-15|> with height 18
Target Placement Location: <|white|><|container|> at <|17-14|> with height 18
PLAN ACTIONS:
Step 1: Move above <|magenta|><|triangular prism|> at <|13-15|> with height 30
Step 2: Lower to <|magenta|><|triangular prism|> at ... | [{"rose-cylinder": [83, 88, 17]}, {"yellow-star": [81, 83, 17]}, {"magenta-triangular prism": [63, 55, 18]}, {"navy-cylinder": [89, 49, 17]}, {"white-container": [59, 71, 18]}] | Pick up the magenta triangular prism and place it into the white container | [
[
63,
55,
30,
0,
60,
90,
1
],
[
63,
55,
18,
0,
60,
90,
1
],
[
63,
55,
18,
0,
60,
90,
0
],
[
63,
55,
30,
0,
60,
90,
0
],
[
59,
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- ... |
[{"<|silver|><|triangular prism|>": ["<|19-19|>", 18]}] | [{"<|black|><|container|>": ["<|21-18|>", 19]}] | LOCATE OBJECTS:
Target Object: <|silver|><|triangular prism|> found at <|19-19|> with height 18
Target Placement Location: <|black|><|container|> at <|21-18|> with height 19
PLAN ACTIONS:
Step 1: Move above <|silver|><|triangular prism|> at <|19-19|> with height 30
Step 2: Lower to <|silver|><|triangular prism|> at <|1... | [{"silver-moon": [57, 46, 18]}, {"silver-triangular prism": [76, 79, 18]}, {"rose-triangular prism": [24, 22, 18]}, {"azure-star": [48, 70, 17]}, {"black-container": [74, 84, 19]}, {"violet-triangular prism": [55, 54, 17]}, {"white-star": [69, 79, 18]}] | Pick up the silver triangular prism and place it into the black container | [
[
76,
79,
30,
0,
60,
90,
1
],
[
76,
79,
18,
0,
60,
90,
1
],
[
76,
79,
18,
0,
60,
90,
0
],
[
76,
79,
30,
0,
60,
90,
0
],
[
74,
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- ... |
[{"<|navy|><|cylinder|>": ["<|5-10|>", 17]}] | [{"<|azure|><|moon|>": ["<|7-13|>", 19]}] | LOCATE OBJECTS:
Target Object: <|navy|><|cylinder|> found at <|5-10|> with height 17
Target Placement Location: <|azure|><|moon|> at <|7-13|> with height 19
PLAN ACTIONS:
Step 1: Move above <|navy|><|cylinder|> at <|5-10|> with height 30
Step 2: Lower to <|navy|><|cylinder|> at <|5-10|> with height 17
Step 3: Close gri... | [{"navy-triangular prism": [30, 22, 17]}, {"magenta-triangular prism": [31, 79, 18]}, {"maroon-triangular prism": [30, 72, 17]}, {"navy-cylinder": [43, 21, 17]}, {"blue-cube": [56, 61, 18]}, {"azure-moon": [54, 30, 19]}] | Stack the navy cylinder on top of the azure moon | [
[
43,
21,
30,
0,
60,
90,
1
],
[
43,
21,
17,
0,
60,
90,
1
],
[
43,
21,
17,
0,
60,
90,
0
],
[
43,
21,
30,
0,
60,
90,
0
],
[
54,
30,
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|>": ["<|10-9|>", 18]}] | [{"<|lime|><|cylinder|>": ["<|13-6|>", 18]}] | LOCATE OBJECTS:
Target Object: <|lime|><|star|> found at <|10-9|> with height 18
Target Placement Location: <|lime|><|cylinder|> at <|13-6|> with height 18
PLAN ACTIONS:
Step 1: Move above <|lime|><|star|> at <|10-9|> with height 30
Step 2: Lower to <|lime|><|star|> at <|10-9|> with height 18
Step 3: Close gripper on <... | [{"red-triangular prism": [77, 42, 18]}, {"red-moon": [64, 74, 18]}, {"magenta-cylinder": [39, 25, 17]}, {"lime-star": [36, 42, 18]}, {"lime-cylinder": [27, 54, 18]}, {"blue-star": [76, 23, 18]}, {"navy-cylinder": [75, 79, 18]}] | Stack the lime star on top of the lime cylinder | [
[
36,
42,
30,
0,
60,
90,
1
],
[
36,
42,
18,
0,
60,
90,
1
],
[
36,
42,
18,
0,
60,
90,
0
],
[
36,
42,
30,
0,
60,
90,
0
],
[
27,
54,
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|>": ["<|5-12|>", 18]}] | [{"<|magenta|><|triangular prism|>": ["<|8-16|>", 18]}] | LOCATE OBJECTS:
Target Object: <|olive|><|star|> found at <|5-12|> with height 18
Target Placement Location: <|magenta|><|triangular prism|> at <|8-16|> with height 18
PLAN ACTIONS:
Step 1: Move above <|olive|><|star|> at <|5-12|> with height 30
Step 2: Lower to <|olive|><|star|> at <|5-12|> with height 18
Step 3: Clos... | [{"gray-cylinder": [43, 29, 17]}, {"green-triangular prism": [83, 52, 17]}, {"maroon-star": [72, 80, 17]}, {"magenta-triangular prism": [67, 32, 18]}, {"olive-star": [50, 20, 18]}] | Stack the olive star on top of the magenta triangular prism | [
[
50,
20,
30,
0,
60,
90,
1
],
[
50,
20,
18,
0,
60,
90,
1
],
[
50,
20,
18,
0,
60,
90,
0
],
[
50,
20,
30,
0,
60,
90,
0
],
[
67,
32,
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|>": ["<|16-22|>", 18]}] | [{"<|yellow|><|moon|>": ["<|19-4|>", 18]}] | LOCATE OBJECTS:
Target Object: <|maroon|><|triangular prism|> found at <|16-22|> with height 18
Target Placement Location: <|yellow|><|moon|> at <|19-4|> with height 18
PLAN ACTIONS:
Step 1: Move above <|maroon|><|triangular prism|> at <|16-22|> with height 30
Step 2: Lower to <|maroon|><|triangular prism|> at <|16-22|... | [{"yellow-moon": [16, 78, 18]}, {"rose-cylinder": [59, 87, 17]}, {"maroon-triangular prism": [89, 67, 18]}, {"navy-triangular prism": [27, 57, 17]}, {"rose-triangular prism": [42, 41, 17]}] | Stack the maroon triangular prism on top of the yellow moon | [
[
89,
67,
30,
0,
60,
90,
1
],
[
89,
67,
18,
0,
60,
90,
1
],
[
89,
67,
18,
0,
60,
90,
0
],
[
89,
67,
30,
0,
60,
90,
0
],
[
16,
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- ... |
[{"<|olive|><|cylinder|>": ["<|18-16|>", 18]}] | [{"<|lime|><|moon|>": ["<|19-14|>", 17]}] | LOCATE OBJECTS:
Target Object: <|olive|><|cylinder|> found at <|18-16|> with height 18
Target Placement Location: <|lime|><|moon|> at <|19-14|> with height 17
PLAN ACTIONS:
Step 1: Move above <|olive|><|cylinder|> at <|18-16|> with height 30
Step 2: Lower to <|olive|><|cylinder|> at <|18-16|> with height 18
Step 3: Clo... | [{"maroon-triangular prism": [26, 66, 17]}, {"olive-cylinder": [66, 75, 18]}, {"lime-moon": [57, 79, 17]}, {"silver-cylinder": [50, 26, 17]}, {"teal-cube": [88, 25, 18]}, {"teal-cylinder": [77, 82, 17]}, {"maroon-star": [32, 61, 18]}] | Stack the olive cylinder on top of the lime moon | [
[
66,
75,
30,
0,
60,
90,
1
],
[
66,
75,
18,
0,
60,
90,
1
],
[
66,
75,
18,
0,
60,
90,
0
],
[
66,
75,
30,
0,
60,
90,
0
],
[
57,
79,
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|>": ["<|12-6|>", 17]}] | [{"<|gray|><|triangular prism|>": ["<|18-6|>", 18]}] | LOCATE OBJECTS:
Target Object: <|maroon|><|cube|> found at <|12-6|> with height 17
Target Placement Location: <|gray|><|triangular prism|> at <|18-6|> with height 18
PLAN ACTIONS:
Step 1: Move above <|maroon|><|cube|> at <|12-6|> with height 30
Step 2: Lower to <|maroon|><|cube|> at <|12-6|> with height 17
Step 3: Clos... | [{"white-cube": [31, 33, 18]}, {"black-moon": [83, 69, 18]}, {"cyan-star": [83, 20, 17]}, {"azure-cylinder": [49, 36, 18]}, {"green-cylinder": [74, 66, 18]}, {"maroon-cube": [26, 49, 17]}, {"gray-triangular prism": [27, 75, 18]}] | Stack the maroon cube on top of the gray triangular prism | [
[
26,
49,
30,
0,
60,
90,
1
],
[
26,
49,
17,
0,
60,
90,
1
],
[
26,
49,
17,
0,
60,
90,
0
],
[
26,
49,
30,
0,
60,
90,
0
],
[
27,
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- ... |
[{"<|red|><|cube|>": ["<|9-19|>", 18]}] | [{"<|maroon|><|container|>": ["<|2-21|>", 19]}] | LOCATE OBJECTS:
Target Object: <|red|><|cube|> found at <|9-19|> with height 18
Target Placement Location: <|maroon|><|container|> at <|2-21|> with height 19
PLAN ACTIONS:
Step 1: Move above <|red|><|cube|> at <|9-19|> with height 30
Step 2: Lower to <|red|><|cube|> at <|9-19|> with height 18
Step 3: Close gripper on <... | [{"red-cube": [78, 38, 18]}, {"green-star": [90, 44, 17]}, {"violet-triangular prism": [74, 55, 18]}, {"olive-moon": [62, 32, 18]}, {"gray-star": [69, 75, 18]}, {"maroon-container": [85, 10, 19]}] | Pick up the red cube and place it into the maroon container | [
[
78,
38,
30,
0,
60,
90,
1
],
[
78,
38,
18,
0,
60,
90,
1
],
[
78,
38,
18,
0,
60,
90,
0
],
[
78,
38,
30,
0,
60,
90,
0
],
[
85,
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- ... |
[{"<|teal|><|star|>": ["<|5-13|>", 18]}] | [{"<|red|><|container|>": ["<|21-7|>", 17]}] | LOCATE OBJECTS:
Target Object: <|teal|><|star|> found at <|5-13|> with height 18
Target Placement Location: <|red|><|container|> at <|21-7|> with height 17
PLAN ACTIONS:
Step 1: Move above <|teal|><|star|> at <|5-13|> with height 30
Step 2: Lower to <|teal|><|star|> at <|5-13|> with height 18
Step 3: Close gripper on <... | [{"magenta-triangular prism": [77, 64, 18]}, {"olive-cylinder": [88, 40, 17]}, {"teal-star": [52, 21, 18]}, {"red-triangular prism": [77, 52, 18]}, {"red-container": [31, 84, 17]}] | Pick up the teal star and place it into the red container | [
[
52,
21,
30,
0,
60,
90,
1
],
[
52,
21,
18,
0,
60,
90,
1
],
[
52,
21,
18,
0,
60,
90,
0
],
[
52,
21,
30,
0,
60,
90,
0
],
[
31,
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- ... |
[{"<|silver|><|cube|>": ["<|5-5|>", 17]}] | [{"<|yellow|><|cube|>": ["<|13-17|>", 19]}] | LOCATE OBJECTS:
Target Object: <|silver|><|cube|> found at <|5-5|> with height 17
Target Placement Location: <|yellow|><|cube|> at <|13-17|> with height 19
PLAN ACTIONS:
Step 1: Move above <|silver|><|cube|> at <|5-5|> with height 30
Step 2: Lower to <|silver|><|cube|> at <|5-5|> with height 17
Step 3: Close gripper on... | [{"navy-triangular prism": [75, 57, 18]}, {"blue-triangular prism": [60, 35, 18]}, {"silver-cube": [23, 22, 17]}, {"magenta-triangular prism": [41, 30, 17]}, {"yellow-cube": [69, 54, 19]}] | Stack the silver cube on top of the yellow cube | [
[
23,
22,
30,
0,
60,
90,
1
],
[
23,
22,
17,
0,
60,
90,
1
],
[
23,
22,
17,
0,
60,
90,
0
],
[
23,
22,
30,
0,
60,
90,
0
],
[
69,
54,
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|>": ["<|17-13|>", 18]}] | [{"<|lime|><|container|>": ["<|15-7|>", 19]}] | LOCATE OBJECTS:
Target Object: <|white|><|triangular prism|> found at <|17-13|> with height 18
Target Placement Location: <|lime|><|container|> at <|15-7|> with height 19
PLAN ACTIONS:
Step 1: Move above <|white|><|triangular prism|> at <|17-13|> with height 30
Step 2: Lower to <|white|><|triangular prism|> at <|17-13|... | [{"magenta-cube": [86, 72, 17]}, {"white-triangular prism": [55, 68, 18]}, {"lime-triangular prism": [49, 74, 17]}, {"lime-container": [29, 61, 19]}, {"gray-cube": [32, 71, 18]}, {"olive-star": [82, 84, 17]}] | Pick up the white triangular prism and place it into the lime container | [
[
55,
68,
30,
0,
60,
90,
1
],
[
55,
68,
18,
0,
60,
90,
1
],
[
55,
68,
18,
0,
60,
90,
0
],
[
55,
68,
30,
0,
60,
90,
0
],
[
29,
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- ... |
[{"<|navy|><|cube|>": ["<|8-9|>", 17]}] | [{"<|rose|><|container|>": ["<|3-13|>", 18]}] | LOCATE OBJECTS:
Target Object: <|navy|><|cube|> found at <|8-9|> with height 17
Target Placement Location: <|rose|><|container|> at <|3-13|> with height 18
PLAN ACTIONS:
Step 1: Move above <|navy|><|cube|> at <|8-9|> with height 30
Step 2: Lower to <|navy|><|cube|> at <|8-9|> with height 17
Step 3: Close gripper on <|n... | [{"black-moon": [45, 83, 17]}, {"rose-container": [53, 14, 18]}, {"purple-moon": [50, 76, 17]}, {"magenta-moon": [43, 77, 18]}, {"purple-triangular prism": [78, 78, 18]}, {"navy-cube": [37, 33, 17]}, {"azure-star": [39, 83, 17]}] | Pick up the navy cube and place it into the rose container | [
[
37,
33,
30,
0,
60,
90,
1
],
[
37,
33,
17,
0,
60,
90,
1
],
[
37,
33,
17,
0,
60,
90,
0
],
[
37,
33,
30,
0,
60,
90,
0
],
[
53,
14,
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|>": ["<|7-14|>", 18]}] | [{"<|yellow|><|star|>": ["<|22-19|>", 18]}] | LOCATE OBJECTS:
Target Object: <|green|><|star|> found at <|7-14|> with height 18
Target Placement Location: <|yellow|><|star|> at <|22-19|> with height 18
PLAN ACTIONS:
Step 1: Move above <|green|><|star|> at <|7-14|> with height 30
Step 2: Lower to <|green|><|star|> at <|7-14|> with height 18
Step 3: Close gripper on... | [{"maroon-star": [58, 44, 17]}, {"yellow-star": [78, 89, 18]}, {"cyan-cube": [28, 25, 18]}, {"green-moon": [73, 80, 18]}, {"navy-star": [54, 25, 17]}, {"violet-cylinder": [74, 89, 18]}, {"green-star": [58, 29, 18]}] | Stack the green star on top of the yellow star | [
[
58,
29,
30,
0,
60,
90,
1
],
[
58,
29,
18,
0,
60,
90,
1
],
[
58,
29,
18,
0,
60,
90,
0
],
[
58,
29,
30,
0,
60,
90,
0
],
[
78,
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|>": ["<|19-6|>", 18]}] | [{"<|violet|><|triangular prism|>": ["<|20-21|>", 18]}] | LOCATE OBJECTS:
Target Object: <|olive|><|triangular prism|> found at <|19-6|> with height 18
Target Placement Location: <|violet|><|triangular prism|> at <|20-21|> with height 18
PLAN ACTIONS:
Step 1: Move above <|olive|><|triangular prism|> at <|19-6|> with height 30
Step 2: Lower to <|olive|><|triangular prism|> at ... | [{"black-cube": [25, 55, 18]}, {"olive-triangular prism": [27, 76, 18]}, {"azure-cube": [33, 26, 17]}, {"yellow-star": [46, 71, 18]}, {"violet-triangular prism": [84, 83, 18]}, {"gray-cylinder": [81, 68, 18]}] | Stack the olive triangular prism on top of the violet triangular prism | [
[
27,
76,
30,
0,
60,
90,
1
],
[
27,
76,
18,
0,
60,
90,
1
],
[
27,
76,
18,
0,
60,
90,
0
],
[
27,
76,
30,
0,
60,
90,
0
],
[
84,
83,
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|>": ["<|15-20|>", 18]}] | [{"<|cyan|><|cube|>": ["<|17-3|>", 18]}] | LOCATE OBJECTS:
Target Object: <|green|><|cube|> found at <|15-20|> with height 18
Target Placement Location: <|cyan|><|cube|> at <|17-3|> with height 18
PLAN ACTIONS:
Step 1: Move above <|green|><|cube|> at <|15-20|> with height 30
Step 2: Lower to <|green|><|cube|> at <|15-20|> with height 18
Step 3: Close gripper on... | [{"green-cube": [82, 63, 18]}, {"rose-triangular prism": [23, 89, 17]}, {"cyan-cube": [13, 71, 18]}, {"magenta-star": [27, 46, 18]}, {"navy-star": [44, 26, 17]}, {"teal-moon": [23, 39, 18]}] | Stack the green cube on top of the cyan cube | [
[
82,
63,
30,
0,
60,
90,
1
],
[
82,
63,
18,
0,
60,
90,
1
],
[
82,
63,
18,
0,
60,
90,
0
],
[
82,
63,
30,
0,
60,
90,
0
],
[
13,
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- ... |
[{"<|yellow|><|moon|>": ["<|18-7|>", 18]}] | [{"<|red|><|container|>": ["<|11-18|>", 18]}] | LOCATE OBJECTS:
Target Object: <|yellow|><|moon|> found at <|18-7|> with height 18
Target Placement Location: <|red|><|container|> at <|11-18|> with height 18
PLAN ACTIONS:
Step 1: Move above <|yellow|><|moon|> at <|18-7|> with height 30
Step 2: Lower to <|yellow|><|moon|> at <|18-7|> with height 18
Step 3: Close gripp... | [{"red-container": [73, 46, 18]}, {"yellow-moon": [29, 74, 18]}, {"blue-cube": [88, 75, 18]}, {"purple-triangular prism": [48, 43, 17]}, {"silver-moon": [61, 29, 18]}] | Pick up the yellow moon and place it into the red container | [
[
29,
74,
30,
0,
60,
90,
1
],
[
29,
74,
18,
0,
60,
90,
1
],
[
29,
74,
18,
0,
60,
90,
0
],
[
29,
74,
30,
0,
60,
90,
0
],
[
73,
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- ... |
[{"<|purple|><|star|>": ["<|10-16|>", 17]}] | [{"<|black|><|container|>": ["<|12-9|>", 19]}] | LOCATE OBJECTS:
Target Object: <|purple|><|star|> found at <|10-16|> with height 17
Target Placement Location: <|black|><|container|> at <|12-9|> with height 19
PLAN ACTIONS:
Step 1: Move above <|purple|><|star|> at <|10-16|> with height 30
Step 2: Lower to <|purple|><|star|> at <|10-16|> with height 17
Step 3: Close g... | [{"lime-star": [80, 36, 18]}, {"black-container": [36, 48, 19]}, {"cyan-star": [46, 63, 17]}, {"black-star": [82, 79, 18]}, {"black-triangular prism": [90, 57, 17]}, {"blue-star": [34, 34, 17]}, {"purple-star": [66, 40, 17]}] | Pick up the purple star and place it into the black container | [
[
66,
40,
30,
0,
60,
90,
1
],
[
66,
40,
17,
0,
60,
90,
1
],
[
66,
40,
17,
0,
60,
90,
0
],
[
66,
40,
30,
0,
60,
90,
0
],
[
36,
48,
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|>": ["<|14-9|>", 18]}] | [{"<|blue|><|star|>": ["<|10-9|>", 18]}] | LOCATE OBJECTS:
Target Object: <|gray|><|triangular prism|> found at <|14-9|> with height 18
Target Placement Location: <|blue|><|star|> at <|10-9|> with height 18
PLAN ACTIONS:
Step 1: Move above <|gray|><|triangular prism|> at <|14-9|> with height 30
Step 2: Lower to <|gray|><|triangular prism|> at <|14-9|> with heig... | [{"gray-triangular prism": [39, 57, 18]}, {"white-triangular prism": [24, 84, 18]}, {"blue-star": [39, 43, 18]}, {"white-cube": [50, 65, 18]}, {"green-triangular prism": [48, 60, 17]}, {"purple-moon": [23, 54, 18]}, {"silver-star": [45, 47, 17]}] | Stack the gray triangular prism on top of the blue star | [
[
39,
57,
30,
0,
60,
90,
1
],
[
39,
57,
18,
0,
60,
90,
1
],
[
39,
57,
18,
0,
60,
90,
0
],
[
39,
57,
30,
0,
60,
90,
0
],
[
39,
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- ... |
[{"<|blue|><|star|>": ["<|14-11|>", 17]}] | [{"<|yellow|><|container|>": ["<|13-10|>", 19]}] | LOCATE OBJECTS:
Target Object: <|blue|><|star|> found at <|14-11|> with height 17
Target Placement Location: <|yellow|><|container|> at <|13-10|> with height 19
PLAN ACTIONS:
Step 1: Move above <|blue|><|star|> at <|14-11|> with height 30
Step 2: Lower to <|blue|><|star|> at <|14-11|> with height 17
Step 3: Close gripp... | [{"purple-moon": [56, 64, 18]}, {"yellow-container": [40, 54, 19]}, {"cyan-triangular prism": [27, 37, 17]}, {"lime-moon": [68, 59, 17]}, {"white-cube": [48, 72, 17]}, {"navy-moon": [61, 58, 17]}, {"blue-star": [46, 59, 17]}] | Pick up the blue star and place it into the yellow container | [
[
46,
59,
30,
0,
60,
90,
1
],
[
46,
59,
17,
0,
60,
90,
1
],
[
46,
59,
17,
0,
60,
90,
0
],
[
46,
59,
30,
0,
60,
90,
0
],
[
40,
54,
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|>": ["<|12-22|>", 18]}] | [{"<|olive|><|container|>": ["<|19-3|>", 17]}] | LOCATE OBJECTS:
Target Object: <|gray|><|cube|> found at <|12-22|> with height 18
Target Placement Location: <|olive|><|container|> at <|19-3|> with height 17
PLAN ACTIONS:
Step 1: Move above <|gray|><|cube|> at <|12-22|> with height 30
Step 2: Lower to <|gray|><|cube|> at <|12-22|> with height 18
Step 3: Close gripper... | [{"gray-cube": [90, 50, 18]}, {"magenta-triangular prism": [44, 20, 17]}, {"silver-cube": [29, 36, 17]}, {"cyan-cube": [75, 78, 18]}, {"olive-container": [14, 79, 17]}] | Pick up the gray cube and place it into the olive container | [
[
90,
50,
30,
0,
60,
90,
1
],
[
90,
50,
18,
0,
60,
90,
1
],
[
90,
50,
18,
0,
60,
90,
0
],
[
90,
50,
30,
0,
60,
90,
0
],
[
14,
79,
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|><|moon|>": ["<|7-20|>", 18]}] | [{"<|silver|><|cube|>": ["<|18-7|>", 17]}] | LOCATE OBJECTS:
Target Object: <|purple|><|moon|> found at <|7-20|> with height 18
Target Placement Location: <|silver|><|cube|> at <|18-7|> with height 17
PLAN ACTIONS:
Step 1: Move above <|purple|><|moon|> at <|7-20|> with height 30
Step 2: Lower to <|purple|><|moon|> at <|7-20|> with height 18
Step 3: Close gripper ... | [{"black-moon": [27, 30, 18]}, {"gray-moon": [71, 63, 17]}, {"red-cylinder": [27, 88, 17]}, {"rose-cube": [41, 71, 18]}, {"silver-cube": [31, 74, 17]}, {"purple-moon": [82, 31, 18]}] | Stack the purple moon on top of the silver cube | [
[
82,
31,
30,
0,
60,
90,
1
],
[
82,
31,
18,
0,
60,
90,
1
],
[
82,
31,
18,
0,
60,
90,
0
],
[
82,
31,
30,
0,
60,
90,
0
],
[
31,
74,
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|><|moon|>": ["<|14-21|>", 17]}] | [{"<|blue|><|moon|>": ["<|15-16|>", 17]}] | LOCATE OBJECTS:
Target Object: <|rose|><|moon|> found at <|14-21|> with height 17
Target Placement Location: <|blue|><|moon|> at <|15-16|> with height 17
PLAN ACTIONS:
Step 1: Move above <|rose|><|moon|> at <|14-21|> with height 30
Step 2: Lower to <|rose|><|moon|> at <|14-21|> with height 17
Step 3: Close gripper on <... | [{"violet-cylinder": [69, 39, 17]}, {"lime-star": [75, 29, 18]}, {"rose-moon": [85, 58, 17]}, {"blue-moon": [66, 63, 17]}, {"purple-cube": [21, 55, 17]}, {"olive-triangular prism": [77, 39, 18]}] | Stack the rose moon on top of the blue moon | [
[
85,
58,
30,
0,
60,
90,
1
],
[
85,
58,
17,
0,
60,
90,
1
],
[
85,
58,
17,
0,
60,
90,
0
],
[
85,
58,
30,
0,
60,
90,
0
],
[
66,
63,
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|><|triangular prism|>": ["<|20-5|>", 18]}] | [{"<|green|><|triangular prism|>": ["<|14-13|>", 17]}] | LOCATE OBJECTS:
Target Object: <|violet|><|triangular prism|> found at <|20-5|> with height 18
Target Placement Location: <|green|><|triangular prism|> at <|14-13|> with height 17
PLAN ACTIONS:
Step 1: Move above <|violet|><|triangular prism|> at <|20-5|> with height 30
Step 2: Lower to <|violet|><|triangular prism|> a... | [{"cyan-moon": [74, 55, 18]}, {"purple-triangular prism": [45, 53, 18]}, {"green-triangular prism": [53, 58, 17]}, {"teal-star": [49, 78, 18]}, {"purple-star": [63, 52, 18]}, {"maroon-cylinder": [76, 70, 17]}, {"violet-triangular prism": [20, 83, 18]}] | Stack the violet triangular prism on top of the green triangular prism | [
[
20,
83,
30,
0,
60,
90,
1
],
[
20,
83,
18,
0,
60,
90,
1
],
[
20,
83,
18,
0,
60,
90,
0
],
[
20,
83,
30,
0,
60,
90,
0
],
[
53,
58,
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|>": ["<|9-13|>", 18]}] | [{"<|yellow|><|moon|>": ["<|17-13|>", 18]}] | LOCATE OBJECTS:
Target Object: <|cyan|><|triangular prism|> found at <|9-13|> with height 18
Target Placement Location: <|yellow|><|moon|> at <|17-13|> with height 18
PLAN ACTIONS:
Step 1: Move above <|cyan|><|triangular prism|> at <|9-13|> with height 30
Step 2: Lower to <|cyan|><|triangular prism|> at <|9-13|> with h... | [{"cyan-star": [25, 82, 18]}, {"teal-triangular prism": [25, 48, 17]}, {"yellow-moon": [54, 68, 18]}, {"cyan-triangular prism": [55, 39, 18]}, {"yellow-cylinder": [53, 45, 17]}] | Stack the cyan triangular prism on top of the yellow moon | [
[
55,
39,
30,
0,
60,
90,
1
],
[
55,
39,
18,
0,
60,
90,
1
],
[
55,
39,
18,
0,
60,
90,
0
],
[
55,
39,
30,
0,
60,
90,
0
],
[
54,
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- ... |
[{"<|azure|><|cylinder|>": ["<|8-13|>", 18]}] | [{"<|lime|><|container|>": ["<|12-12|>", 18]}] | LOCATE OBJECTS:
Target Object: <|azure|><|cylinder|> found at <|8-13|> with height 18
Target Placement Location: <|lime|><|container|> at <|12-12|> with height 18
PLAN ACTIONS:
Step 1: Move above <|azure|><|cylinder|> at <|8-13|> with height 30
Step 2: Lower to <|azure|><|cylinder|> at <|8-13|> with height 18
Step 3: C... | [{"lime-container": [51, 49, 18]}, {"red-star": [84, 74, 17]}, {"azure-cylinder": [53, 34, 18]}, {"green-star": [64, 41, 17]}, {"teal-star": [21, 62, 17]}, {"lime-cylinder": [88, 79, 18]}, {"white-moon": [39, 40, 17]}] | Pick up the azure cylinder and place it into the lime container | [
[
53,
34,
30,
0,
60,
90,
1
],
[
53,
34,
18,
0,
60,
90,
1
],
[
53,
34,
18,
0,
60,
90,
0
],
[
53,
34,
30,
0,
60,
90,
0
],
[
51,
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- ... |
[{"<|teal|><|cylinder|>": ["<|15-8|>", 18]}] | [{"<|white|><|container|>": ["<|9-3|>", 19]}] | LOCATE OBJECTS:
Target Object: <|teal|><|cylinder|> found at <|15-8|> with height 18
Target Placement Location: <|white|><|container|> at <|9-3|> with height 19
PLAN ACTIONS:
Step 1: Move above <|teal|><|cylinder|> at <|15-8|> with height 30
Step 2: Lower to <|teal|><|cylinder|> at <|15-8|> with height 18
Step 3: Close... | [{"white-container": [14, 36, 19]}, {"magenta-cube": [21, 22, 18]}, {"green-moon": [37, 56, 17]}, {"teal-cylinder": [34, 63, 18]}, {"violet-cylinder": [83, 48, 17]}] | Pick up the teal cylinder and place it into the white container | [
[
34,
63,
30,
0,
60,
90,
1
],
[
34,
63,
18,
0,
60,
90,
1
],
[
34,
63,
18,
0,
60,
90,
0
],
[
34,
63,
30,
0,
60,
90,
0
],
[
14,
36,
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|>": ["<|13-15|>", 18]}] | [{"<|green|><|container|>": ["<|3-15|>", 17]}] | LOCATE OBJECTS:
Target Object: <|cyan|><|triangular prism|> found at <|13-15|> with height 18
Target Placement Location: <|green|><|container|> at <|3-15|> with height 17
PLAN ACTIONS:
Step 1: Move above <|cyan|><|triangular prism|> at <|13-15|> with height 30
Step 2: Lower to <|cyan|><|triangular prism|> at <|13-15|> ... | [{"cyan-triangular prism": [63, 52, 18]}, {"lime-cube": [73, 78, 17]}, {"red-moon": [65, 28, 17]}, {"green-container": [62, 13, 17]}, {"gray-moon": [67, 34, 18]}] | Pick up the cyan triangular prism and place it into the green container | [
[
63,
52,
30,
0,
60,
90,
1
],
[
63,
52,
18,
0,
60,
90,
1
],
[
63,
52,
18,
0,
60,
90,
0
],
[
63,
52,
30,
0,
60,
90,
0
],
[
62,
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- ... |
[{"<|gray|><|moon|>": ["<|12-18|>", 18]}] | [{"<|green|><|cylinder|>": ["<|6-2|>", 19]}] | LOCATE OBJECTS:
Target Object: <|gray|><|moon|> found at <|12-18|> with height 18
Target Placement Location: <|green|><|cylinder|> at <|6-2|> with height 19
PLAN ACTIONS:
Step 1: Move above <|gray|><|moon|> at <|12-18|> with height 30
Step 2: Lower to <|gray|><|moon|> at <|12-18|> with height 18
Step 3: Close gripper o... | [{"violet-cylinder": [31, 89, 18]}, {"violet-moon": [32, 72, 17]}, {"white-triangular prism": [67, 20, 18]}, {"gray-moon": [72, 51, 18]}, {"black-cube": [88, 76, 18]}, {"lime-cylinder": [79, 72, 17]}, {"green-cylinder": [10, 26, 19]}] | Stack the gray moon on top of the green cylinder | [
[
72,
51,
30,
0,
60,
90,
1
],
[
72,
51,
18,
0,
60,
90,
1
],
[
72,
51,
18,
0,
60,
90,
0
],
[
72,
51,
30,
0,
60,
90,
0
],
[
10,
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- ... |
[{"<|magenta|><|star|>": ["<|14-10|>", 18]}] | [{"<|navy|><|moon|>": ["<|6-10|>", 18]}] | LOCATE OBJECTS:
Target Object: <|magenta|><|star|> found at <|14-10|> with height 18
Target Placement Location: <|navy|><|moon|> at <|6-10|> with height 18
PLAN ACTIONS:
Step 1: Move above <|magenta|><|star|> at <|14-10|> with height 30
Step 2: Lower to <|magenta|><|star|> at <|14-10|> with height 18
Step 3: Close grip... | [{"magenta-star": [40, 56, 18]}, {"navy-moon": [41, 25, 18]}, {"green-cube": [63, 82, 18]}, {"violet-star": [59, 32, 18]}, {"red-cube": [57, 61, 17]}] | Stack the magenta star on top of the navy moon | [
[
40,
56,
30,
0,
60,
90,
1
],
[
40,
56,
18,
0,
60,
90,
1
],
[
40,
56,
18,
0,
60,
90,
0
],
[
40,
56,
30,
0,
60,
90,
0
],
[
41,
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- ... |
[{"<|maroon|><|star|>": ["<|5-13|>", 18]}] | [{"<|purple|><|star|>": ["<|6-6|>", 18]}] | LOCATE OBJECTS:
Target Object: <|maroon|><|star|> found at <|5-13|> with height 18
Target Placement Location: <|purple|><|star|> at <|6-6|> with height 18
PLAN ACTIONS:
Step 1: Move above <|maroon|><|star|> at <|5-13|> with height 30
Step 2: Lower to <|maroon|><|star|> at <|5-13|> with height 18
Step 3: Close gripper o... | [{"gray-star": [51, 44, 17]}, {"black-star": [74, 28, 17]}, {"rose-star": [30, 44, 17]}, {"purple-star": [26, 26, 18]}, {"maroon-star": [52, 22, 18]}] | Stack the maroon star on top of the purple star | [
[
52,
22,
30,
0,
60,
90,
1
],
[
52,
22,
18,
0,
60,
90,
1
],
[
52,
22,
18,
0,
60,
90,
0
],
[
52,
22,
30,
0,
60,
90,
0
],
[
26,
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- ... |
[{"<|lime|><|cylinder|>": ["<|7-8|>", 17]}] | [{"<|gray|><|container|>": ["<|11-6|>", 17]}] | LOCATE OBJECTS:
Target Object: <|lime|><|cylinder|> found at <|7-8|> with height 17
Target Placement Location: <|gray|><|container|> at <|11-6|> with height 17
PLAN ACTIONS:
Step 1: Move above <|lime|><|cylinder|> at <|7-8|> with height 30
Step 2: Lower to <|lime|><|cylinder|> at <|7-8|> with height 17
Step 3: Close gr... | [{"gray-container": [26, 46, 17]}, {"black-cylinder": [69, 59, 17]}, {"lime-cylinder": [32, 29, 17]}, {"navy-cylinder": [28, 57, 17]}, {"purple-cylinder": [60, 39, 17]}] | Pick up the lime cylinder and place it into the gray container | [
[
32,
29,
30,
0,
60,
90,
1
],
[
32,
29,
17,
0,
60,
90,
1
],
[
32,
29,
17,
0,
60,
90,
0
],
[
32,
29,
30,
0,
60,
90,
0
],
[
26,
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- ... |
[{"<|white|><|cube|>": ["<|14-19|>", 18]}] | [{"<|green|><|container|>": ["<|17-7|>", 18]}] | LOCATE OBJECTS:
Target Object: <|white|><|cube|> found at <|14-19|> with height 18
Target Placement Location: <|green|><|container|> at <|17-7|> with height 18
PLAN ACTIONS:
Step 1: Move above <|white|><|cube|> at <|14-19|> with height 30
Step 2: Lower to <|white|><|cube|> at <|14-19|> with height 18
Step 3: Close grip... | [{"teal-moon": [69, 78, 18]}, {"navy-cube": [72, 60, 18]}, {"green-container": [30, 68, 18]}, {"white-cube": [78, 59, 18]}, {"maroon-triangular prism": [82, 58, 18]}, {"navy-triangular prism": [24, 76, 18]}] | Pick up the white cube and place it into the green container | [
[
78,
59,
30,
0,
60,
90,
1
],
[
78,
59,
18,
0,
60,
90,
1
],
[
78,
59,
18,
0,
60,
90,
0
],
[
78,
59,
30,
0,
60,
90,
0
],
[
30,
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- ... |
[{"<|teal|><|cylinder|>": ["<|13-8|>", 17]}] | [{"<|magenta|><|moon|>": ["<|20-21|>", 19]}] | LOCATE OBJECTS:
Target Object: <|teal|><|cylinder|> found at <|13-8|> with height 17
Target Placement Location: <|magenta|><|moon|> at <|20-21|> with height 19
PLAN ACTIONS:
Step 1: Move above <|teal|><|cylinder|> at <|13-8|> with height 30
Step 2: Lower to <|teal|><|cylinder|> at <|13-8|> with height 17
Step 3: Close ... | [{"purple-star": [80, 56, 17]}, {"teal-cylinder": [34, 54, 17]}, {"olive-cylinder": [66, 41, 17]}, {"azure-star": [45, 47, 18]}, {"silver-triangular prism": [83, 76, 18]}, {"magenta-moon": [87, 82, 19]}, {"red-cube": [38, 68, 17]}] | Stack the teal cylinder on top of the magenta moon | [
[
34,
54,
30,
0,
60,
90,
1
],
[
34,
54,
17,
0,
60,
90,
1
],
[
34,
54,
17,
0,
60,
90,
0
],
[
34,
54,
30,
0,
60,
90,
0
],
[
87,
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- ... |
[{"<|violet|><|moon|>": ["<|8-21|>", 17]}] | [{"<|gray|><|container|>": ["<|21-19|>", 17]}] | LOCATE OBJECTS:
Target Object: <|violet|><|moon|> found at <|8-21|> with height 17
Target Placement Location: <|gray|><|container|> at <|21-19|> with height 17
PLAN ACTIONS:
Step 1: Move above <|violet|><|moon|> at <|8-21|> with height 30
Step 2: Lower to <|violet|><|moon|> at <|8-21|> with height 17
Step 3: Close grip... | [{"azure-triangular prism": [20, 33, 17]}, {"gray-container": [76, 85, 17]}, {"lime-cube": [45, 46, 17]}, {"violet-moon": [86, 33, 17]}, {"lime-cylinder": [22, 22, 18]}] | Pick up the violet moon and place it into the gray container | [
[
86,
33,
30,
0,
60,
90,
1
],
[
86,
33,
17,
0,
60,
90,
1
],
[
86,
33,
17,
0,
60,
90,
0
],
[
86,
33,
30,
0,
60,
90,
0
],
[
76,
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- ... |
[{"<|maroon|><|star|>": ["<|5-8|>", 17]}] | [{"<|green|><|cylinder|>": ["<|6-6|>", 19]}] | LOCATE OBJECTS:
Target Object: <|maroon|><|star|> found at <|5-8|> with height 17
Target Placement Location: <|green|><|cylinder|> at <|6-6|> with height 19
PLAN ACTIONS:
Step 1: Move above <|maroon|><|star|> at <|5-8|> with height 30
Step 2: Lower to <|maroon|><|star|> at <|5-8|> with height 17
Step 3: Close gripper o... | [{"navy-cube": [23, 41, 18]}, {"maroon-star": [35, 20, 17]}, {"green-cylinder": [26, 24, 19]}, {"rose-star": [59, 75, 18]}, {"silver-triangular prism": [82, 48, 17]}] | Stack the maroon star on top of the green cylinder | [
[
35,
20,
30,
0,
60,
90,
1
],
[
35,
20,
17,
0,
60,
90,
1
],
[
35,
20,
17,
0,
60,
90,
0
],
[
35,
20,
30,
0,
60,
90,
0
],
[
26,
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- ... |
[{"<|silver|><|star|>": ["<|6-17|>", 17]}] | [{"<|lime|><|container|>": ["<|14-11|>", 19]}] | LOCATE OBJECTS:
Target Object: <|silver|><|star|> found at <|6-17|> with height 17
Target Placement Location: <|lime|><|container|> at <|14-11|> with height 19
PLAN ACTIONS:
Step 1: Move above <|silver|><|star|> at <|6-17|> with height 30
Step 2: Lower to <|silver|><|star|> at <|6-17|> with height 17
Step 3: Close grip... | [{"lime-container": [45, 57, 19]}, {"black-cylinder": [55, 53, 17]}, {"silver-star": [70, 25, 17]}, {"red-cube": [25, 56, 18]}, {"purple-triangular prism": [60, 51, 18]}, {"gray-cylinder": [56, 73, 18]}] | Pick up the silver star and place it into the lime container | [
[
70,
25,
30,
0,
60,
90,
1
],
[
70,
25,
17,
0,
60,
90,
1
],
[
70,
25,
17,
0,
60,
90,
0
],
[
70,
25,
30,
0,
60,
90,
0
],
[
45,
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- ... |
[{"<|yellow|><|star|>": ["<|12-22|>", 17]}] | [{"<|blue|><|container|>": ["<|16-7|>", 19]}] | LOCATE OBJECTS:
Target Object: <|yellow|><|star|> found at <|12-22|> with height 17
Target Placement Location: <|blue|><|container|> at <|16-7|> with height 19
PLAN ACTIONS:
Step 1: Move above <|yellow|><|star|> at <|12-22|> with height 30
Step 2: Lower to <|yellow|><|star|> at <|12-22|> with height 17
Step 3: Close gr... | [{"blue-container": [30, 66, 19]}, {"magenta-cylinder": [37, 21, 17]}, {"blue-cube": [57, 87, 17]}, {"navy-cube": [22, 65, 17]}, {"yellow-star": [88, 49, 17]}] | Pick up the yellow star and place it into the blue container | [
[
88,
49,
30,
0,
60,
90,
1
],
[
88,
49,
17,
0,
60,
90,
1
],
[
88,
49,
17,
0,
60,
90,
0
],
[
88,
49,
30,
0,
60,
90,
0
],
[
30,
66,
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|>": ["<|18-11|>", 17]}] | [{"<|green|><|container|>": ["<|15-8|>", 18]}] | LOCATE OBJECTS:
Target Object: <|teal|><|triangular prism|> found at <|18-11|> with height 17
Target Placement Location: <|green|><|container|> at <|15-8|> with height 18
PLAN ACTIONS:
Step 1: Move above <|teal|><|triangular prism|> at <|18-11|> with height 30
Step 2: Lower to <|teal|><|triangular prism|> at <|18-11|> ... | [{"maroon-triangular prism": [85, 28, 17]}, {"green-container": [34, 60, 18]}, {"violet-moon": [36, 84, 18]}, {"teal-triangular prism": [44, 72, 17]}, {"purple-cylinder": [63, 31, 18]}, {"maroon-cylinder": [63, 41, 18]}] | Pick up the teal triangular prism and place it into the green container | [
[
44,
72,
30,
0,
60,
90,
1
],
[
44,
72,
17,
0,
60,
90,
1
],
[
44,
72,
17,
0,
60,
90,
0
],
[
44,
72,
30,
0,
60,
90,
0
],
[
34,
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- ... |
[{"<|gray|><|cube|>": ["<|5-9|>", 18]}] | [{"<|blue|><|cylinder|>": ["<|3-17|>", 19]}] | LOCATE OBJECTS:
Target Object: <|gray|><|cube|> found at <|5-9|> with height 18
Target Placement Location: <|blue|><|cylinder|> at <|3-17|> with height 19
PLAN ACTIONS:
Step 1: Move above <|gray|><|cube|> at <|5-9|> with height 30
Step 2: Lower to <|gray|><|cube|> at <|5-9|> with height 18
Step 3: Close gripper on <|gr... | [{"gray-cube": [36, 23, 18]}, {"green-star": [29, 58, 18]}, {"maroon-cube": [41, 83, 17]}, {"azure-cube": [61, 83, 17]}, {"cyan-star": [30, 88, 18]}, {"blue-cylinder": [70, 15, 19]}] | Stack the gray cube on top of the blue cylinder | [
[
36,
23,
30,
0,
60,
90,
1
],
[
36,
23,
18,
0,
60,
90,
1
],
[
36,
23,
18,
0,
60,
90,
0
],
[
36,
23,
30,
0,
60,
90,
0
],
[
70,
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- ... |
[{"<|yellow|><|star|>": ["<|19-21|>", 17]}] | [{"<|green|><|moon|>": ["<|19-9|>", 17]}] | LOCATE OBJECTS:
Target Object: <|yellow|><|star|> found at <|19-21|> with height 17
Target Placement Location: <|green|><|moon|> at <|19-9|> with height 17
PLAN ACTIONS:
Step 1: Move above <|yellow|><|star|> at <|19-21|> with height 30
Step 2: Lower to <|yellow|><|star|> at <|19-21|> with height 17
Step 3: Close grippe... | [{"green-moon": [37, 79, 17]}, {"cyan-triangular prism": [68, 42, 17]}, {"lime-triangular prism": [39, 85, 18]}, {"red-cube": [35, 61, 18]}, {"maroon-cube": [44, 39, 18]}, {"cyan-cube": [24, 86, 18]}, {"yellow-star": [85, 77, 17]}] | Stack the yellow star on top of the green moon | [
[
85,
77,
30,
0,
60,
90,
1
],
[
85,
77,
17,
0,
60,
90,
1
],
[
85,
77,
17,
0,
60,
90,
0
],
[
85,
77,
30,
0,
60,
90,
0
],
[
37,
79,
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|>": ["<|17-5|>", 17]}] | [{"<|black|><|container|>": ["<|9-22|>", 17]}] | LOCATE OBJECTS:
Target Object: <|yellow|><|triangular prism|> found at <|17-5|> with height 17
Target Placement Location: <|black|><|container|> at <|9-22|> with height 17
PLAN ACTIONS:
Step 1: Move above <|yellow|><|triangular prism|> at <|17-5|> with height 30
Step 2: Lower to <|yellow|><|triangular prism|> at <|17-5... | [{"black-container": [88, 39, 17]}, {"olive-cube": [32, 34, 17]}, {"yellow-triangular prism": [23, 71, 17]}, {"azure-star": [49, 27, 17]}, {"white-moon": [31, 54, 18]}, {"navy-star": [33, 36, 18]}] | Pick up the yellow triangular prism and place it into the black container | [
[
23,
71,
30,
0,
60,
90,
1
],
[
23,
71,
17,
0,
60,
90,
1
],
[
23,
71,
17,
0,
60,
90,
0
],
[
23,
71,
30,
0,
60,
90,
0
],
[
88,
39,
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|>": ["<|12-13|>", 18]}] | [{"<|green|><|star|>": ["<|19-22|>", 19]}] | LOCATE OBJECTS:
Target Object: <|azure|><|star|> found at <|12-13|> with height 18
Target Placement Location: <|green|><|star|> at <|19-22|> with height 19
PLAN ACTIONS:
Step 1: Move above <|azure|><|star|> at <|12-13|> with height 30
Step 2: Lower to <|azure|><|star|> at <|12-13|> with height 18
Step 3: Close gripper ... | [{"azure-star": [53, 49, 18]}, {"green-star": [90, 77, 19]}, {"teal-moon": [57, 86, 18]}, {"blue-cube": [33, 36, 18]}, {"navy-star": [46, 33, 18]}, {"magenta-cube": [32, 60, 18]}] | Stack the azure star on top of the green star | [
[
53,
49,
30,
0,
60,
90,
1
],
[
53,
49,
18,
0,
60,
90,
1
],
[
53,
49,
18,
0,
60,
90,
0
],
[
53,
49,
30,
0,
60,
90,
0
],
[
90,
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- ... |
[{"<|rose|><|cube|>": ["<|20-5|>", 18]}] | [{"<|teal|><|star|>": ["<|15-5|>", 17]}] | LOCATE OBJECTS:
Target Object: <|rose|><|cube|> found at <|20-5|> with height 18
Target Placement Location: <|teal|><|star|> at <|15-5|> with height 17
PLAN ACTIONS:
Step 1: Move above <|rose|><|cube|> at <|20-5|> with height 30
Step 2: Lower to <|rose|><|cube|> at <|20-5|> with height 18
Step 3: Close gripper on <|ros... | [{"rose-cube": [20, 83, 18]}, {"magenta-star": [74, 58, 18]}, {"teal-star": [21, 61, 17]}, {"magenta-moon": [45, 61, 18]}, {"yellow-cylinder": [61, 60, 18]}] | Stack the rose cube on top of the teal star | [
[
20,
83,
30,
0,
60,
90,
1
],
[
20,
83,
18,
0,
60,
90,
1
],
[
20,
83,
18,
0,
60,
90,
0
],
[
20,
83,
30,
0,
60,
90,
0
],
[
21,
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- ... |
[{"<|navy|><|star|>": ["<|14-16|>", 18]}] | [{"<|lime|><|cylinder|>": ["<|10-16|>", 18]}] | LOCATE OBJECTS:
Target Object: <|navy|><|star|> found at <|14-16|> with height 18
Target Placement Location: <|lime|><|cylinder|> at <|10-16|> with height 18
PLAN ACTIONS:
Step 1: Move above <|navy|><|star|> at <|14-16|> with height 30
Step 2: Lower to <|navy|><|star|> at <|14-16|> with height 18
Step 3: Close gripper ... | [{"lime-cylinder": [64, 40, 18]}, {"gray-cylinder": [43, 84, 17]}, {"rose-moon": [76, 27, 18]}, {"silver-star": [50, 44, 18]}, {"navy-star": [67, 58, 18]}, {"yellow-star": [30, 73, 17]}] | Stack the navy star on top of the lime cylinder | [
[
67,
58,
30,
0,
60,
90,
1
],
[
67,
58,
18,
0,
60,
90,
1
],
[
67,
58,
18,
0,
60,
90,
0
],
[
67,
58,
30,
0,
60,
90,
0
],
[
64,
40,
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|>": ["<|11-15|>", 17]}] | [{"<|black|><|container|>": ["<|2-8|>", 18]}] | LOCATE OBJECTS:
Target Object: <|maroon|><|triangular prism|> found at <|11-15|> with height 17
Target Placement Location: <|black|><|container|> at <|2-8|> with height 18
PLAN ACTIONS:
Step 1: Move above <|maroon|><|triangular prism|> at <|11-15|> with height 30
Step 2: Lower to <|maroon|><|triangular prism|> at <|11-... | [{"teal-cube": [21, 33, 17]}, {"teal-triangular prism": [34, 36, 17]}, {"maroon-triangular prism": [61, 44, 17]}, {"black-container": [35, 11, 18]}, {"teal-star": [47, 45, 18]}] | Pick up the maroon triangular prism and place it into the black container | [
[
61,
44,
30,
0,
60,
90,
1
],
[
61,
44,
17,
0,
60,
90,
1
],
[
61,
44,
17,
0,
60,
90,
0
],
[
61,
44,
30,
0,
60,
90,
0
],
[
35,
11,
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|>": ["<|14-5|>", 17]}] | [{"<|gray|><|container|>": ["<|18-12|>", 17]}] | LOCATE OBJECTS:
Target Object: <|violet|><|moon|> found at <|14-5|> with height 17
Target Placement Location: <|gray|><|container|> at <|18-12|> with height 17
PLAN ACTIONS:
Step 1: Move above <|violet|><|moon|> at <|14-5|> with height 30
Step 2: Lower to <|violet|><|moon|> at <|14-5|> with height 17
Step 3: Close grip... | [{"violet-moon": [21, 57, 17]}, {"white-triangular prism": [32, 21, 18]}, {"rose-moon": [48, 28, 17]}, {"gray-cube": [82, 88, 17]}, {"teal-star": [30, 55, 17]}, {"navy-triangular prism": [61, 79, 17]}, {"gray-container": [50, 75, 17]}] | Pick up the violet moon and place it into the gray container | [
[
21,
57,
30,
0,
60,
90,
1
],
[
21,
57,
17,
0,
60,
90,
1
],
[
21,
57,
17,
0,
60,
90,
0
],
[
21,
57,
30,
0,
60,
90,
0
],
[
50,
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- ... |
[{"<|gray|><|cube|>": ["<|18-9|>", 18]}] | [{"<|azure|><|container|>": ["<|5-15|>", 19]}] | LOCATE OBJECTS:
Target Object: <|gray|><|cube|> found at <|18-9|> with height 18
Target Placement Location: <|azure|><|container|> at <|5-15|> with height 19
PLAN ACTIONS:
Step 1: Move above <|gray|><|cube|> at <|18-9|> with height 30
Step 2: Lower to <|gray|><|cube|> at <|18-9|> with height 18
Step 3: Close gripper on... | [{"azure-container": [62, 20, 19]}, {"red-moon": [50, 27, 17]}, {"gray-cube": [38, 72, 18]}, {"cyan-star": [74, 45, 17]}, {"cyan-moon": [63, 52, 18]}] | Pick up the gray cube and place it into the azure container | [
[
38,
72,
30,
0,
60,
90,
1
],
[
38,
72,
18,
0,
60,
90,
1
],
[
38,
72,
18,
0,
60,
90,
0
],
[
38,
72,
30,
0,
60,
90,
0
],
[
62,
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|><|moon|>": ["<|22-14|>", 18]}] | [{"<|olive|><|star|>": ["<|11-3|>", 18]}] | LOCATE OBJECTS:
Target Object: <|black|><|moon|> found at <|22-14|> with height 18
Target Placement Location: <|olive|><|star|> at <|11-3|> with height 18
PLAN ACTIONS:
Step 1: Move above <|black|><|moon|> at <|22-14|> with height 30
Step 2: Lower to <|black|><|moon|> at <|22-14|> with height 18
Step 3: Close gripper o... | [{"green-triangular prism": [65, 89, 18]}, {"purple-triangular prism": [21, 45, 17]}, {"azure-triangular prism": [54, 62, 18]}, {"black-moon": [56, 90, 18]}, {"olive-star": [15, 47, 18]}] | Stack the black moon on top of the olive star | [
[
56,
90,
30,
0,
60,
90,
1
],
[
56,
90,
18,
0,
60,
90,
1
],
[
56,
90,
18,
0,
60,
90,
0
],
[
56,
90,
30,
0,
60,
90,
0
],
[
15,
47,
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|>": ["<|6-17|>", 18]}] | [{"<|black|><|container|>": ["<|12-6|>", 18]}] | LOCATE OBJECTS:
Target Object: <|olive|><|cylinder|> found at <|6-17|> with height 18
Target Placement Location: <|black|><|container|> at <|12-6|> with height 18
PLAN ACTIONS:
Step 1: Move above <|olive|><|cylinder|> at <|6-17|> with height 30
Step 2: Lower to <|olive|><|cylinder|> at <|6-17|> with height 18
Step 3: C... | [{"black-container": [26, 50, 18]}, {"gray-moon": [23, 32, 17]}, {"white-triangular prism": [70, 83, 17]}, {"olive-cylinder": [70, 25, 18]}, {"green-cylinder": [74, 24, 17]}, {"rose-star": [51, 24, 17]}] | Pick up the olive cylinder and place it into the black container | [
[
70,
25,
30,
0,
60,
90,
1
],
[
70,
25,
18,
0,
60,
90,
1
],
[
70,
25,
18,
0,
60,
90,
0
],
[
70,
25,
30,
0,
60,
90,
0
],
[
26,
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- ... |
[{"<|green|><|moon|>": ["<|7-19|>", 17]}] | [{"<|cyan|><|triangular prism|>": ["<|6-6|>", 17]}] | LOCATE OBJECTS:
Target Object: <|green|><|moon|> found at <|7-19|> with height 17
Target Placement Location: <|cyan|><|triangular prism|> at <|6-6|> with height 17
PLAN ACTIONS:
Step 1: Move above <|green|><|moon|> at <|7-19|> with height 30
Step 2: Lower to <|green|><|moon|> at <|7-19|> with height 17
Step 3: Close gr... | [{"azure-moon": [50, 41, 17]}, {"cyan-triangular prism": [24, 24, 17]}, {"blue-triangular prism": [58, 89, 18]}, {"gray-cylinder": [23, 27, 17]}, {"maroon-triangular prism": [24, 79, 17]}, {"green-moon": [76, 28, 17]}] | Stack the green moon on top of the cyan triangular prism | [
[
76,
28,
30,
0,
60,
90,
1
],
[
76,
28,
17,
0,
60,
90,
1
],
[
76,
28,
17,
0,
60,
90,
0
],
[
76,
28,
30,
0,
60,
90,
0
],
[
24,
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- ... |
[{"<|red|><|cube|>": ["<|16-18|>", 18]}] | [{"<|gray|><|container|>": ["<|21-9|>", 17]}] | LOCATE OBJECTS:
Target Object: <|red|><|cube|> found at <|16-18|> with height 18
Target Placement Location: <|gray|><|container|> at <|21-9|> with height 17
PLAN ACTIONS:
Step 1: Move above <|red|><|cube|> at <|16-18|> with height 30
Step 2: Lower to <|red|><|cube|> at <|16-18|> with height 18
Step 3: Close gripper on ... | [{"gray-container": [36, 85, 17]}, {"cyan-moon": [66, 25, 18]}, {"gray-cube": [36, 41, 18]}, {"yellow-star": [22, 69, 18]}, {"red-cube": [72, 64, 18]}] | Pick up the red cube and place it into the gray container | [
[
72,
64,
30,
0,
60,
90,
1
],
[
72,
64,
18,
0,
60,
90,
1
],
[
72,
64,
18,
0,
60,
90,
0
],
[
72,
64,
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- ... |
[{"<|cyan|><|cylinder|>": ["<|5-7|>", 17]}] | [{"<|olive|><|container|>": ["<|10-7|>", 19]}] | LOCATE OBJECTS:
Target Object: <|cyan|><|cylinder|> found at <|5-7|> with height 17
Target Placement Location: <|olive|><|container|> at <|10-7|> with height 19
PLAN ACTIONS:
Step 1: Move above <|cyan|><|cylinder|> at <|5-7|> with height 30
Step 2: Lower to <|cyan|><|cylinder|> at <|5-7|> with height 17
Step 3: Close g... | [{"yellow-cylinder": [35, 70, 18]}, {"violet-moon": [76, 39, 17]}, {"olive-container": [31, 43, 19]}, {"cyan-cylinder": [29, 20, 17]}, {"gray-moon": [29, 23, 17]}, {"red-star": [25, 45, 18]}, {"black-moon": [24, 53, 18]}] | Pick up the cyan cylinder and place it into the olive container | [
[
29,
20,
30,
0,
60,
90,
1
],
[
29,
20,
17,
0,
60,
90,
1
],
[
29,
20,
17,
0,
60,
90,
0
],
[
29,
20,
30,
0,
60,
90,
0
],
[
31,
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- ... |
[{"<|black|><|cube|>": ["<|20-11|>", 18]}] | [{"<|azure|><|triangular prism|>": ["<|7-9|>", 17]}] | LOCATE OBJECTS:
Target Object: <|black|><|cube|> found at <|20-11|> with height 18
Target Placement Location: <|azure|><|triangular prism|> at <|7-9|> with height 17
PLAN ACTIONS:
Step 1: Move above <|black|><|cube|> at <|20-11|> with height 30
Step 2: Lower to <|black|><|cube|> at <|20-11|> with height 18
Step 3: Clos... | [{"black-cube": [47, 81, 18]}, {"green-cylinder": [49, 86, 17]}, {"green-triangular prism": [78, 58, 17]}, {"violet-cylinder": [70, 56, 18]}, {"azure-triangular prism": [37, 29, 17]}, {"green-cube": [30, 55, 17]}, {"gray-star": [21, 36, 17]}] | Stack the black cube on top of the azure triangular prism | [
[
47,
81,
30,
0,
60,
90,
1
],
[
47,
81,
18,
0,
60,
90,
1
],
[
47,
81,
18,
0,
60,
90,
0
],
[
47,
81,
30,
0,
60,
90,
0
],
[
37,
29,
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|>": ["<|19-5|>", 18]}] | [{"<|maroon|><|container|>": ["<|11-7|>", 17]}] | LOCATE OBJECTS:
Target Object: <|olive|><|cylinder|> found at <|19-5|> with height 18
Target Placement Location: <|maroon|><|container|> at <|11-7|> with height 17
PLAN ACTIONS:
Step 1: Move above <|olive|><|cylinder|> at <|19-5|> with height 30
Step 2: Lower to <|olive|><|cylinder|> at <|19-5|> with height 18
Step 3: ... | [{"maroon-container": [28, 44, 17]}, {"olive-cylinder": [20, 77, 18]}, {"green-cylinder": [44, 36, 17]}, {"magenta-moon": [29, 42, 18]}, {"rose-cube": [70, 63, 18]}, {"white-cube": [68, 62, 17]}] | Pick up the olive cylinder and place it into the maroon container | [
[
20,
77,
30,
0,
60,
90,
1
],
[
20,
77,
18,
0,
60,
90,
1
],
[
20,
77,
18,
0,
60,
90,
0
],
[
20,
77,
30,
0,
60,
90,
0
],
[
28,
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- ... |
[{"<|black|><|cylinder|>": ["<|12-12|>", 18]}] | [{"<|olive|><|cylinder|>": ["<|10-18|>", 17]}] | LOCATE OBJECTS:
Target Object: <|black|><|cylinder|> found at <|12-12|> with height 18
Target Placement Location: <|olive|><|cylinder|> at <|10-18|> with height 17
PLAN ACTIONS:
Step 1: Move above <|black|><|cylinder|> at <|12-12|> with height 30
Step 2: Lower to <|black|><|cylinder|> at <|12-12|> with height 18
Step 3... | [{"lime-moon": [21, 30, 18]}, {"black-moon": [59, 22, 17]}, {"lime-cylinder": [62, 69, 17]}, {"black-cylinder": [49, 49, 18]}, {"olive-cylinder": [75, 41, 17]}, {"blue-triangular prism": [64, 55, 17]}, {"green-moon": [45, 86, 18]}] | Stack the black cylinder on top of the olive cylinder | [
[
49,
49,
30,
0,
60,
90,
1
],
[
49,
49,
18,
0,
60,
90,
1
],
[
49,
49,
18,
0,
60,
90,
0
],
[
49,
49,
30,
0,
60,
90,
0
],
[
75,
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- ... |
[{"<|blue|><|triangular prism|>": ["<|6-21|>", 18]}] | [{"<|azure|><|moon|>": ["<|3-22|>", 17]}] | LOCATE OBJECTS:
Target Object: <|blue|><|triangular prism|> found at <|6-21|> with height 18
Target Placement Location: <|azure|><|moon|> at <|3-22|> with height 17
PLAN ACTIONS:
Step 1: Move above <|blue|><|triangular prism|> at <|6-21|> with height 30
Step 2: Lower to <|blue|><|triangular prism|> at <|6-21|> with hei... | [{"blue-cube": [23, 84, 17]}, {"teal-star": [80, 21, 17]}, {"azure-star": [68, 84, 18]}, {"blue-triangular prism": [87, 24, 18]}, {"azure-moon": [89, 12, 17]}, {"magenta-triangular prism": [81, 69, 18]}, {"white-moon": [73, 49, 18]}] | Stack the blue triangular prism on top of the azure moon | [
[
87,
24,
30,
0,
60,
90,
1
],
[
87,
24,
18,
0,
60,
90,
1
],
[
87,
24,
18,
0,
60,
90,
0
],
[
87,
24,
30,
0,
60,
90,
0
],
[
89,
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- ... |
[{"<|white|><|cylinder|>": ["<|16-9|>", 17]}] | [{"<|rose|><|container|>": ["<|9-8|>", 17]}] | LOCATE OBJECTS:
Target Object: <|white|><|cylinder|> found at <|16-9|> with height 17
Target Placement Location: <|rose|><|container|> at <|9-8|> with height 17
PLAN ACTIONS:
Step 1: Move above <|white|><|cylinder|> at <|16-9|> with height 30
Step 2: Lower to <|white|><|cylinder|> at <|16-9|> with height 17
Step 3: Clo... | [{"blue-cube": [70, 26, 17]}, {"red-moon": [61, 27, 17]}, {"cyan-cube": [68, 64, 18]}, {"gray-triangular prism": [43, 86, 18]}, {"rose-container": [35, 38, 17]}, {"white-cylinder": [37, 65, 17]}, {"black-moon": [42, 58, 17]}] | Pick up the white cylinder and place it into the rose container | [
[
37,
65,
30,
0,
60,
90,
1
],
[
37,
65,
17,
0,
60,
90,
1
],
[
37,
65,
17,
0,
60,
90,
0
],
[
37,
65,
30,
0,
60,
90,
0
],
[
35,
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- ... |
[{"<|maroon|><|cube|>": ["<|11-8|>", 18]}] | [{"<|azure|><|star|>": ["<|6-22|>", 18]}] | LOCATE OBJECTS:
Target Object: <|maroon|><|cube|> found at <|11-8|> with height 18
Target Placement Location: <|azure|><|star|> at <|6-22|> with height 18
PLAN ACTIONS:
Step 1: Move above <|maroon|><|cube|> at <|11-8|> with height 30
Step 2: Lower to <|maroon|><|cube|> at <|11-8|> with height 18
Step 3: Close gripper o... | [{"maroon-cube": [34, 44, 18]}, {"violet-cube": [44, 64, 18]}, {"rose-cylinder": [22, 88, 17]}, {"olive-cylinder": [55, 56, 17]}, {"azure-star": [90, 24, 18]}, {"silver-cylinder": [67, 84, 17]}] | Stack the maroon cube on top of the azure star | [
[
34,
44,
30,
0,
60,
90,
1
],
[
34,
44,
18,
0,
60,
90,
1
],
[
34,
44,
18,
0,
60,
90,
0
],
[
34,
44,
30,
0,
60,
90,
0
],
[
90,
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|><|moon|>": ["<|14-6|>", 18]}] | [{"<|silver|><|moon|>": ["<|9-16|>", 18]}] | LOCATE OBJECTS:
Target Object: <|purple|><|moon|> found at <|14-6|> with height 18
Target Placement Location: <|silver|><|moon|> at <|9-16|> with height 18
PLAN ACTIONS:
Step 1: Move above <|purple|><|moon|> at <|14-6|> with height 30
Step 2: Lower to <|purple|><|moon|> at <|14-6|> with height 18
Step 3: Close gripper ... | [{"black-star": [53, 41, 17]}, {"purple-triangular prism": [46, 50, 18]}, {"red-cube": [77, 40, 18]}, {"purple-moon": [25, 59, 18]}, {"silver-moon": [65, 37, 18]}] | Stack the purple moon on top of the silver moon | [
[
25,
59,
30,
0,
60,
90,
1
],
[
25,
59,
18,
0,
60,
90,
1
],
[
25,
59,
18,
0,
60,
90,
0
],
[
25,
59,
30,
0,
60,
90,
0
],
[
65,
37,
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|>": ["<|20-8|>", 18]}] | [{"<|silver|><|container|>": ["<|2-10|>", 18]}] | LOCATE OBJECTS:
Target Object: <|rose|><|star|> found at <|20-8|> with height 18
Target Placement Location: <|silver|><|container|> at <|2-10|> with height 18
PLAN ACTIONS:
Step 1: Move above <|rose|><|star|> at <|20-8|> with height 30
Step 2: Lower to <|rose|><|star|> at <|20-8|> with height 18
Step 3: Close gripper o... | [{"olive-cylinder": [25, 68, 18]}, {"navy-triangular prism": [41, 53, 17]}, {"yellow-cube": [53, 88, 18]}, {"red-moon": [48, 55, 17]}, {"silver-container": [43, 10, 18]}, {"rose-star": [34, 83, 18]}, {"maroon-cylinder": [38, 26, 17]}] | Pick up the rose star and place it into the silver container | [
[
34,
83,
30,
0,
60,
90,
1
],
[
34,
83,
18,
0,
60,
90,
1
],
[
34,
83,
18,
0,
60,
90,
0
],
[
34,
83,
30,
0,
60,
90,
0
],
[
43,
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- ... |
[{"<|azure|><|cube|>": ["<|19-17|>", 18]}] | [{"<|teal|><|container|>": ["<|9-4|>", 18]}] | LOCATE OBJECTS:
Target Object: <|azure|><|cube|> found at <|19-17|> with height 18
Target Placement Location: <|teal|><|container|> at <|9-4|> with height 18
PLAN ACTIONS:
Step 1: Move above <|azure|><|cube|> at <|19-17|> with height 30
Step 2: Lower to <|azure|><|cube|> at <|19-17|> with height 18
Step 3: Close grippe... | [{"violet-triangular prism": [57, 44, 18]}, {"rose-star": [28, 52, 18]}, {"azure-cube": [71, 79, 18]}, {"red-cylinder": [52, 36, 17]}, {"teal-container": [16, 36, 18]}] | Pick up the azure cube and place it into the teal container | [
[
71,
79,
30,
0,
60,
90,
1
],
[
71,
79,
18,
0,
60,
90,
1
],
[
71,
79,
18,
0,
60,
90,
0
],
[
71,
79,
30,
0,
60,
90,
0
],
[
16,
36,
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|>": ["<|21-10|>", 18]}] | [{"<|rose|><|container|>": ["<|20-20|>", 18]}] | LOCATE OBJECTS:
Target Object: <|black|><|star|> found at <|21-10|> with height 18
Target Placement Location: <|rose|><|container|> at <|20-20|> with height 18
PLAN ACTIONS:
Step 1: Move above <|black|><|star|> at <|21-10|> with height 30
Step 2: Lower to <|black|><|star|> at <|21-10|> with height 18
Step 3: Close grip... | [{"rose-container": [83, 81, 18]}, {"navy-triangular prism": [30, 56, 17]}, {"black-star": [40, 84, 18]}, {"cyan-triangular prism": [70, 34, 18]}, {"azure-moon": [48, 21, 17]}] | Pick up the black star and place it into the rose container | [
[
40,
84,
30,
0,
60,
90,
1
],
[
40,
84,
18,
0,
60,
90,
1
],
[
40,
84,
18,
0,
60,
90,
0
],
[
40,
84,
30,
0,
60,
90,
0
],
[
83,
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- ... |
[{"<|olive|><|moon|>": ["<|7-17|>", 18]}] | [{"<|cyan|><|container|>": ["<|9-18|>", 18]}] | LOCATE OBJECTS:
Target Object: <|olive|><|moon|> found at <|7-17|> with height 18
Target Placement Location: <|cyan|><|container|> at <|9-18|> with height 18
PLAN ACTIONS:
Step 1: Move above <|olive|><|moon|> at <|7-17|> with height 30
Step 2: Lower to <|olive|><|moon|> at <|7-17|> with height 18
Step 3: Close gripper ... | [{"lime-star": [54, 65, 18]}, {"cyan-container": [73, 36, 18]}, {"purple-moon": [26, 29, 18]}, {"olive-moon": [70, 29, 18]}, {"violet-moon": [57, 81, 18]}, {"navy-cylinder": [88, 28, 18]}, {"red-star": [61, 81, 17]}] | Pick up the olive moon and place it into the cyan container | [
[
70,
29,
30,
0,
60,
90,
1
],
[
70,
29,
18,
0,
60,
90,
1
],
[
70,
29,
18,
0,
60,
90,
0
],
[
70,
29,
30,
0,
60,
90,
0
],
[
73,
36,
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|>": ["<|9-20|>", 17]}] | [{"<|magenta|><|triangular prism|>": ["<|8-2|>", 17]}] | LOCATE OBJECTS:
Target Object: <|olive|><|star|> found at <|9-20|> with height 17
Target Placement Location: <|magenta|><|triangular prism|> at <|8-2|> with height 17
PLAN ACTIONS:
Step 1: Move above <|olive|><|star|> at <|9-20|> with height 30
Step 2: Lower to <|olive|><|star|> at <|9-20|> with height 17
Step 3: Close... | [{"white-cube": [35, 30, 18]}, {"azure-star": [69, 70, 18]}, {"olive-triangular prism": [43, 58, 18]}, {"maroon-cube": [75, 76, 18]}, {"olive-star": [83, 36, 17]}, {"magenta-triangular prism": [11, 32, 17]}, {"gray-triangular prism": [79, 89, 18]}] | Stack the olive star on top of the magenta triangular prism | [
[
83,
36,
30,
0,
60,
90,
1
],
[
83,
36,
17,
0,
60,
90,
1
],
[
83,
36,
17,
0,
60,
90,
0
],
[
83,
36,
30,
0,
60,
90,
0
],
[
11,
32,
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|>": ["<|7-22|>", 17]}] | [{"<|azure|><|star|>": ["<|10-15|>", 18]}] | LOCATE OBJECTS:
Target Object: <|magenta|><|cylinder|> found at <|7-22|> with height 17
Target Placement Location: <|azure|><|star|> at <|10-15|> with height 18
PLAN ACTIONS:
Step 1: Move above <|magenta|><|cylinder|> at <|7-22|> with height 30
Step 2: Lower to <|magenta|><|cylinder|> at <|7-22|> with height 17
Step 3:... | [{"azure-star": [60, 42, 18]}, {"azure-triangular prism": [61, 25, 17]}, {"violet-moon": [88, 55, 17]}, {"lime-cube": [86, 49, 18]}, {"magenta-cylinder": [90, 31, 17]}, {"white-triangular prism": [79, 84, 17]}, {"teal-cylinder": [46, 66, 17]}] | Stack the magenta cylinder on top of the azure star | [
[
90,
31,
30,
0,
60,
90,
1
],
[
90,
31,
17,
0,
60,
90,
1
],
[
90,
31,
17,
0,
60,
90,
0
],
[
90,
31,
30,
0,
60,
90,
0
],
[
60,
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- ... |
[{"<|yellow|><|cylinder|>": ["<|11-16|>", 17]}] | [{"<|teal|><|star|>": ["<|20-10|>", 17]}] | LOCATE OBJECTS:
Target Object: <|yellow|><|cylinder|> found at <|11-16|> with height 17
Target Placement Location: <|teal|><|star|> at <|20-10|> with height 17
PLAN ACTIONS:
Step 1: Move above <|yellow|><|cylinder|> at <|11-16|> with height 30
Step 2: Lower to <|yellow|><|cylinder|> at <|11-16|> with height 17
Step 3: ... | [{"red-cylinder": [66, 76, 17]}, {"azure-triangular prism": [82, 86, 17]}, {"yellow-cylinder": [67, 44, 17]}, {"purple-cylinder": [46, 72, 17]}, {"teal-star": [43, 82, 17]}, {"black-triangular prism": [54, 20, 18]}] | Stack the yellow cylinder on top of the teal star | [
[
67,
44,
30,
0,
60,
90,
1
],
[
67,
44,
17,
0,
60,
90,
1
],
[
67,
44,
17,
0,
60,
90,
0
],
[
67,
44,
30,
0,
60,
90,
0
],
[
43,
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- ... |
[{"<|teal|><|triangular prism|>": ["<|6-19|>", 18]}] | [{"<|rose|><|cube|>": ["<|21-5|>", 19]}] | LOCATE OBJECTS:
Target Object: <|teal|><|triangular prism|> found at <|6-19|> with height 18
Target Placement Location: <|rose|><|cube|> at <|21-5|> with height 19
PLAN ACTIONS:
Step 1: Move above <|teal|><|triangular prism|> at <|6-19|> with height 30
Step 2: Lower to <|teal|><|triangular prism|> at <|6-19|> with heig... | [{"navy-cube": [43, 33, 17]}, {"navy-star": [28, 57, 18]}, {"black-cube": [20, 27, 18]}, {"rose-cube": [21, 84, 19]}, {"azure-moon": [73, 79, 17]}, {"teal-triangular prism": [77, 26, 18]}] | Stack the teal triangular prism on top of the rose cube | [
[
77,
26,
30,
0,
60,
90,
1
],
[
77,
26,
18,
0,
60,
90,
1
],
[
77,
26,
18,
0,
60,
90,
0
],
[
77,
26,
30,
0,
60,
90,
0
],
[
21,
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- ... |
[{"<|teal|><|moon|>": ["<|13-17|>", 17]}] | [{"<|white|><|container|>": ["<|17-20|>", 18]}] | LOCATE OBJECTS:
Target Object: <|teal|><|moon|> found at <|13-17|> with height 17
Target Placement Location: <|white|><|container|> at <|17-20|> with height 18
PLAN ACTIONS:
Step 1: Move above <|teal|><|moon|> at <|13-17|> with height 30
Step 2: Lower to <|teal|><|moon|> at <|13-17|> with height 17
Step 3: Close grippe... | [{"white-container": [82, 68, 18]}, {"teal-moon": [69, 53, 17]}, {"purple-star": [51, 79, 17]}, {"gray-cube": [59, 34, 18]}, {"blue-triangular prism": [42, 53, 17]}] | Pick up the teal moon and place it into the white container | [
[
69,
53,
30,
0,
60,
90,
1
],
[
69,
53,
17,
0,
60,
90,
1
],
[
69,
53,
17,
0,
60,
90,
0
],
[
69,
53,
30,
0,
60,
90,
0
],
[
82,
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- ... |
[{"<|azure|><|cube|>": ["<|13-19|>", 17]}] | [{"<|blue|><|moon|>": ["<|22-20|>", 18]}] | LOCATE OBJECTS:
Target Object: <|azure|><|cube|> found at <|13-19|> with height 17
Target Placement Location: <|blue|><|moon|> at <|22-20|> with height 18
PLAN ACTIONS:
Step 1: Move above <|azure|><|cube|> at <|13-19|> with height 30
Step 2: Lower to <|azure|><|cube|> at <|13-19|> with height 17
Step 3: Close gripper o... | [{"gray-star": [89, 41, 17]}, {"maroon-triangular prism": [53, 36, 17]}, {"blue-moon": [82, 90, 18]}, {"azure-cube": [76, 52, 17]}, {"teal-star": [63, 22, 18]}] | Stack the azure cube on top of the blue moon | [
[
76,
52,
30,
0,
60,
90,
1
],
[
76,
52,
17,
0,
60,
90,
1
],
[
76,
52,
17,
0,
60,
90,
0
],
[
76,
52,
30,
0,
60,
90,
0
],
[
82,
90,
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|><|moon|>": ["<|8-7|>", 17]}] | [{"<|olive|><|cylinder|>": ["<|14-19|>", 18]}] | LOCATE OBJECTS:
Target Object: <|blue|><|moon|> found at <|8-7|> with height 17
Target Placement Location: <|olive|><|cylinder|> at <|14-19|> with height 18
PLAN ACTIONS:
Step 1: Move above <|blue|><|moon|> at <|8-7|> with height 30
Step 2: Lower to <|blue|><|moon|> at <|8-7|> with height 17
Step 3: Close gripper on <|... | [{"violet-moon": [42, 23, 18]}, {"olive-cylinder": [76, 56, 18]}, {"blue-moon": [30, 33, 17]}, {"blue-cylinder": [89, 85, 18]}, {"azure-cylinder": [70, 52, 18]}, {"rose-triangular prism": [43, 78, 18]}] | Stack the blue moon on top of the olive cylinder | [
[
30,
33,
30,
0,
60,
90,
1
],
[
30,
33,
17,
0,
60,
90,
1
],
[
30,
33,
17,
0,
60,
90,
0
],
[
30,
33,
30,
0,
60,
90,
0
],
[
76,
56,
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|>": ["<|11-13|>", 17]}] | [{"<|lime|><|container|>": ["<|19-18|>", 17]}] | LOCATE OBJECTS:
Target Object: <|azure|><|triangular prism|> found at <|11-13|> with height 17
Target Placement Location: <|lime|><|container|> at <|19-18|> with height 17
PLAN ACTIONS:
Step 1: Move above <|azure|><|triangular prism|> at <|11-13|> with height 30
Step 2: Lower to <|azure|><|triangular prism|> at <|11-13... | [{"violet-cylinder": [50, 40, 17]}, {"lime-triangular prism": [33, 59, 17]}, {"azure-triangular prism": [54, 47, 17]}, {"black-cube": [37, 84, 18]}, {"lime-container": [73, 76, 17]}, {"green-moon": [67, 37, 17]}, {"red-moon": [22, 27, 18]}] | Pick up the azure triangular prism and place it into the lime container | [
[
54,
47,
30,
0,
60,
90,
1
],
[
54,
47,
17,
0,
60,
90,
1
],
[
54,
47,
17,
0,
60,
90,
0
],
[
54,
47,
30,
0,
60,
90,
0
],
[
73,
76,
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|>": ["<|14-19|>", 18]}] | [{"<|purple|><|moon|>": ["<|13-21|>", 18]}] | LOCATE OBJECTS:
Target Object: <|purple|><|star|> found at <|14-19|> with height 18
Target Placement Location: <|purple|><|moon|> at <|13-21|> with height 18
PLAN ACTIONS:
Step 1: Move above <|purple|><|star|> at <|14-19|> with height 30
Step 2: Lower to <|purple|><|star|> at <|14-19|> with height 18
Step 3: Close grip... | [{"cyan-triangular prism": [78, 48, 17]}, {"yellow-triangular prism": [51, 55, 18]}, {"cyan-moon": [27, 64, 18]}, {"purple-moon": [86, 53, 18]}, {"purple-star": [76, 56, 18]}, {"olive-star": [31, 33, 17]}, {"purple-cube": [87, 84, 18]}] | Stack the purple star on top of the purple moon | [
[
76,
56,
30,
0,
60,
90,
1
],
[
76,
56,
18,
0,
60,
90,
1
],
[
76,
56,
18,
0,
60,
90,
0
],
[
76,
56,
30,
0,
60,
90,
0
],
[
86,
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- ... |
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