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