Source_Obj stringlengths 51 69 | Target_Obj stringlengths 51 69 | Thinking stringlengths 669 810 | Object stringlengths 140 285 | instruction stringlengths 41 76 | solution listlengths 6 6 | Conversation listlengths 2 2 |
|---|---|---|---|---|---|---|
[{"<|green|><|triangular prism|>": ["<|23-20|><|local-1-3|>", 18]}] | [{"<|maroon|><|cube|>": ["<|23-3|><|local-3-3|>", 19]}] | LOCATE OBJECTS:
Target Object: <|green|><|triangular prism|> found at <|23-20|><|local-1-3|> with height 18
Target Placement Location: <|maroon|><|cube|> at <|23-3|><|local-3-3|> with height 19
PLAN ACTIONS:
Step 1: Move above <|green|><|triangular prism|> at <|23-20|><|local-1-3|> with height 30
Step 2: Lower to <|gre... | [{"silver-star": [23, 72, 17]}, {"gray-star": [43, 75, 17]}, {"maroon-cube": [95, 15, 19]}, {"green-triangular prism": [93, 83, 18]}, {"olive-moon": [45, 7, 17]}] | Stack the green triangular prism on top of the maroon cube | [
[
93,
83,
30,
0,
60,
90,
1
],
[
93,
83,
18,
0,
60,
90,
1
],
[
93,
83,
18,
0,
60,
90,
0
],
[
93,
83,
30,
0,
60,
90,
0
],
[
95,
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 100x100 discrete grid, divided into a 25x... |
[{"<|olive|><|cube|>": ["<|22-17|><|local-2-1|>", 19]}] | [{"<|azure|><|cube|>": ["<|9-10|><|local-1-2|>", 19]}] | LOCATE OBJECTS:
Target Object: <|olive|><|cube|> found at <|22-17|><|local-2-1|> with height 19
Target Placement Location: <|azure|><|cube|> at <|9-10|><|local-1-2|> with height 19
PLAN ACTIONS:
Step 1: Move above <|olive|><|cube|> at <|22-17|><|local-2-1|> with height 30
Step 2: Lower to <|olive|><|cube|> at <|22-17|>... | [{"azure-moon": [51, 2, 17]}, {"maroon-moon": [76, 94, 18]}, {"violet-triangular prism": [58, 35, 17]}, {"azure-cube": [37, 42, 19]}, {"olive-cube": [90, 69, 19]}] | Stack the olive cube on top of the azure cube | [
[
90,
69,
30,
0,
60,
90,
1
],
[
90,
69,
19,
0,
60,
90,
1
],
[
90,
69,
19,
0,
60,
90,
0
],
[
90,
69,
30,
0,
60,
90,
0
],
[
37,
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 100x100 discrete grid, divided into a 25x... |
[{"<|azure|><|cylinder|>": ["<|5-8|><|local-0-2|>", 19]}] | [{"<|navy|><|triangular prism|>": ["<|4-6|><|local-1-0|>", 17]}] | LOCATE OBJECTS:
Target Object: <|azure|><|cylinder|> found at <|5-8|><|local-0-2|> with height 19
Target Placement Location: <|navy|><|triangular prism|> at <|4-6|><|local-1-0|> with height 17
PLAN ACTIONS:
Step 1: Move above <|azure|><|cylinder|> at <|5-8|><|local-0-2|> with height 30
Step 2: Lower to <|azure|><|cylin... | [{"navy-triangular prism": [17, 24, 17]}, {"yellow-star": [29, 68, 18]}, {"azure-cylinder": [20, 34, 19]}, {"lime-cylinder": [85, 31, 17]}, {"red-star": [14, 19, 17]}, {"teal-cylinder": [81, 11, 18]}, {"rose-moon": [20, 58, 18]}] | Stack the azure cylinder on top of the navy triangular prism | [
[
20,
34,
30,
0,
60,
90,
1
],
[
20,
34,
19,
0,
60,
90,
1
],
[
20,
34,
19,
0,
60,
90,
0
],
[
20,
34,
30,
0,
60,
90,
0
],
[
17,
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 100x100 discrete grid, divided into a 25x... |
[{"<|yellow|><|star|>": ["<|13-19|><|local-2-2|>", 18]}] | [{"<|cyan|><|container|>": ["<|13-6|><|local-0-3|>", 18]}] | LOCATE OBJECTS:
Target Object: <|yellow|><|star|> found at <|13-19|><|local-2-2|> with height 18
Target Placement Location: <|cyan|><|container|> at <|13-6|><|local-0-3|> with height 18
PLAN ACTIONS:
Step 1: Move above <|yellow|><|star|> at <|13-19|><|local-2-2|> with height 30
Step 2: Lower to <|yellow|><|star|> at <|... | [{"cyan-container": [52, 27, 18]}, {"magenta-moon": [28, 57, 18]}, {"yellow-star": [54, 78, 18]}, {"yellow-cube": [9, 76, 17]}, {"red-triangular prism": [80, 3, 18]}] | Pick up the yellow star and place it into the cyan container | [
[
54,
78,
30,
0,
60,
90,
1
],
[
54,
78,
18,
0,
60,
90,
1
],
[
54,
78,
18,
0,
60,
90,
0
],
[
54,
78,
30,
0,
60,
90,
0
],
[
52,
27,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|blue|><|cube|>": ["<|11-20|><|local-0-0|>", 19]}] | [{"<|red|><|cylinder|>": ["<|16-5|><|local-3-0|>", 19]}] | LOCATE OBJECTS:
Target Object: <|blue|><|cube|> found at <|11-20|><|local-0-0|> with height 19
Target Placement Location: <|red|><|cylinder|> at <|16-5|><|local-3-0|> with height 19
PLAN ACTIONS:
Step 1: Move above <|blue|><|cube|> at <|11-20|><|local-0-0|> with height 30
Step 2: Lower to <|blue|><|cube|> at <|11-20|><... | [{"lime-cylinder": [44, 55, 18]}, {"purple-cube": [63, 76, 18]}, {"yellow-cylinder": [78, 98, 18]}, {"olive-star": [27, 53, 17]}, {"rose-cube": [9, 0, 18]}, {"blue-cube": [44, 80, 19]}, {"red-cylinder": [67, 20, 19]}] | Stack the blue cube on top of the red cylinder | [
[
44,
80,
30,
0,
60,
90,
1
],
[
44,
80,
19,
0,
60,
90,
1
],
[
44,
80,
19,
0,
60,
90,
0
],
[
44,
80,
30,
0,
60,
90,
0
],
[
67,
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 100x100 discrete grid, divided into a 25x... |
[{"<|yellow|><|cube|>": ["<|16-5|><|local-0-3|>", 17]}] | [{"<|red|><|container|>": ["<|20-10|><|local-3-3|>", 17]}] | LOCATE OBJECTS:
Target Object: <|yellow|><|cube|> found at <|16-5|><|local-0-3|> with height 17
Target Placement Location: <|red|><|container|> at <|20-10|><|local-3-3|> with height 17
PLAN ACTIONS:
Step 1: Move above <|yellow|><|cube|> at <|16-5|><|local-0-3|> with height 30
Step 2: Lower to <|yellow|><|cube|> at <|16... | [{"yellow-cube": [64, 23, 17]}, {"lime-cube": [74, 67, 17]}, {"white-cylinder": [93, 14, 18]}, {"red-container": [83, 43, 17]}, {"maroon-cube": [26, 82, 17]}, {"violet-cube": [14, 23, 17]}] | Pick up the yellow cube and place it into the red container | [
[
64,
23,
30,
0,
60,
90,
1
],
[
64,
23,
17,
0,
60,
90,
1
],
[
64,
23,
17,
0,
60,
90,
0
],
[
64,
23,
30,
0,
60,
90,
0
],
[
83,
43,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|magenta|><|moon|>": ["<|5-8|><|local-0-1|>", 19]}] | [{"<|cyan|><|star|>": ["<|18-18|><|local-1-0|>", 17]}] | LOCATE OBJECTS:
Target Object: <|magenta|><|moon|> found at <|5-8|><|local-0-1|> with height 19
Target Placement Location: <|cyan|><|star|> at <|18-18|><|local-1-0|> with height 17
PLAN ACTIONS:
Step 1: Move above <|magenta|><|moon|> at <|5-8|><|local-0-1|> with height 30
Step 2: Lower to <|magenta|><|moon|> at <|5-8|>... | [{"maroon-cube": [11, 48, 17]}, {"cyan-star": [73, 72, 17]}, {"magenta-moon": [20, 33, 19]}, {"yellow-cube": [44, 5, 18]}, {"teal-moon": [31, 87, 18]}, {"yellow-star": [5, 13, 18]}] | Stack the magenta moon on top of the cyan star | [
[
20,
33,
30,
0,
60,
90,
1
],
[
20,
33,
19,
0,
60,
90,
1
],
[
20,
33,
19,
0,
60,
90,
0
],
[
20,
33,
30,
0,
60,
90,
0
],
[
73,
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 100x100 discrete grid, divided into a 25x... |
[{"<|magenta|><|cylinder|>": ["<|14-4|><|local-3-2|>", 17]}] | [{"<|rose|><|container|>": ["<|17-16|><|local-2-2|>", 17]}] | LOCATE OBJECTS:
Target Object: <|magenta|><|cylinder|> found at <|14-4|><|local-3-2|> with height 17
Target Placement Location: <|rose|><|container|> at <|17-16|><|local-2-2|> with height 17
PLAN ACTIONS:
Step 1: Move above <|magenta|><|cylinder|> at <|14-4|><|local-3-2|> with height 30
Step 2: Lower to <|magenta|><|cy... | [{"yellow-moon": [19, 77, 17]}, {"yellow-star": [27, 18, 18]}, {"rose-container": [70, 66, 17]}, {"blue-triangular prism": [41, 5, 17]}, {"magenta-cylinder": [59, 18, 17]}, {"azure-cube": [53, 8, 17]}] | Pick up the magenta cylinder and place it into the rose container | [
[
59,
18,
30,
0,
60,
90,
1
],
[
59,
18,
17,
0,
60,
90,
1
],
[
59,
18,
17,
0,
60,
90,
0
],
[
59,
18,
30,
0,
60,
90,
0
],
[
70,
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 100x100 discrete grid, divided into a 25x... |
[{"<|cyan|><|triangular prism|>": ["<|1-19|><|local-2-1|>", 17]}] | [{"<|silver|><|cylinder|>": ["<|1-1|><|local-2-2|>", 19]}] | LOCATE OBJECTS:
Target Object: <|cyan|><|triangular prism|> found at <|1-19|><|local-2-1|> with height 17
Target Placement Location: <|silver|><|cylinder|> at <|1-1|><|local-2-2|> with height 19
PLAN ACTIONS:
Step 1: Move above <|cyan|><|triangular prism|> at <|1-19|><|local-2-1|> with height 30
Step 2: Lower to <|cyan... | [{"yellow-star": [80, 43, 18]}, {"silver-cylinder": [6, 6, 19]}, {"olive-cylinder": [5, 89, 17]}, {"cyan-triangular prism": [6, 77, 17]}, {"magenta-cylinder": [56, 62, 17]}] | Stack the cyan triangular prism on top of the silver cylinder | [
[
6,
77,
30,
0,
60,
90,
1
],
[
6,
77,
17,
0,
60,
90,
1
],
[
6,
77,
17,
0,
60,
90,
0
],
[
6,
77,
30,
0,
60,
90,
0
],
[
6,
6,
30,
0,
60,
90,
0
],
[
6,
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|white|><|cylinder|>": ["<|4-12|><|local-2-3|>", 17]}] | [{"<|navy|><|cube|>": ["<|19-16|><|local-3-3|>", 18]}] | LOCATE OBJECTS:
Target Object: <|white|><|cylinder|> found at <|4-12|><|local-2-3|> with height 17
Target Placement Location: <|navy|><|cube|> at <|19-16|><|local-3-3|> with height 18
PLAN ACTIONS:
Step 1: Move above <|white|><|cylinder|> at <|4-12|><|local-2-3|> with height 30
Step 2: Lower to <|white|><|cylinder|> at... | [{"silver-triangular prism": [75, 7, 18]}, {"olive-cylinder": [8, 88, 17]}, {"navy-star": [36, 69, 17]}, {"white-cylinder": [18, 51, 17]}, {"navy-cube": [79, 67, 18]}] | Stack the white cylinder on top of the navy cube | [
[
18,
51,
30,
0,
60,
90,
1
],
[
18,
51,
17,
0,
60,
90,
1
],
[
18,
51,
17,
0,
60,
90,
0
],
[
18,
51,
30,
0,
60,
90,
0
],
[
79,
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 100x100 discrete grid, divided into a 25x... |
[{"<|gray|><|cube|>": ["<|4-13|><|local-1-2|>", 17]}] | [{"<|violet|><|container|>": ["<|3-3|><|local-1-2|>", 18]}] | LOCATE OBJECTS:
Target Object: <|gray|><|cube|> found at <|4-13|><|local-1-2|> with height 17
Target Placement Location: <|violet|><|container|> at <|3-3|><|local-1-2|> with height 18
PLAN ACTIONS:
Step 1: Move above <|gray|><|cube|> at <|4-13|><|local-1-2|> with height 30
Step 2: Lower to <|gray|><|cube|> at <|4-13|><... | [{"violet-container": [13, 14, 18]}, {"red-star": [83, 43, 17]}, {"gray-cube": [17, 54, 17]}, {"blue-cylinder": [60, 9, 17]}, {"red-cube": [93, 60, 17]}, {"maroon-moon": [51, 50, 18]}, {"silver-cube": [62, 80, 17]}] | Pick up the gray cube and place it into the violet container | [
[
17,
54,
30,
0,
60,
90,
1
],
[
17,
54,
17,
0,
60,
90,
1
],
[
17,
54,
17,
0,
60,
90,
0
],
[
17,
54,
30,
0,
60,
90,
0
],
[
13,
14,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|blue|><|cube|>": ["<|23-8|><|local-3-2|>", 17]}] | [{"<|silver|><|container|>": ["<|6-0|><|local-1-1|>", 17]}] | LOCATE OBJECTS:
Target Object: <|blue|><|cube|> found at <|23-8|><|local-3-2|> with height 17
Target Placement Location: <|silver|><|container|> at <|6-0|><|local-1-1|> with height 17
PLAN ACTIONS:
Step 1: Move above <|blue|><|cube|> at <|23-8|><|local-3-2|> with height 30
Step 2: Lower to <|blue|><|cube|> at <|23-8|><... | [{"azure-triangular prism": [80, 75, 17]}, {"magenta-triangular prism": [45, 72, 17]}, {"silver-container": [25, 1, 17]}, {"teal-moon": [82, 38, 17]}, {"blue-cube": [95, 34, 17]}, {"maroon-triangular prism": [8, 80, 17]}] | Pick up the blue cube and place it into the silver container | [
[
95,
34,
30,
0,
60,
90,
1
],
[
95,
34,
17,
0,
60,
90,
1
],
[
95,
34,
17,
0,
60,
90,
0
],
[
95,
34,
30,
0,
60,
90,
0
],
[
25,
1,
30,
0,
60,
90,
0
],
[
2... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|gray|><|cube|>": ["<|8-15|><|local-0-2|>", 19]}] | [{"<|yellow|><|container|>": ["<|9-18|><|local-2-0|>", 17]}] | LOCATE OBJECTS:
Target Object: <|gray|><|cube|> found at <|8-15|><|local-0-2|> with height 19
Target Placement Location: <|yellow|><|container|> at <|9-18|><|local-2-0|> with height 17
PLAN ACTIONS:
Step 1: Move above <|gray|><|cube|> at <|8-15|><|local-0-2|> with height 30
Step 2: Lower to <|gray|><|cube|> at <|8-15|>... | [{"olive-star": [78, 98, 18]}, {"magenta-cube": [6, 75, 17]}, {"yellow-container": [38, 72, 17]}, {"gray-cube": [32, 62, 19]}, {"silver-cube": [49, 8, 18]}, {"lime-cube": [50, 80, 18]}, {"olive-moon": [34, 36, 18]}] | Pick up the gray cube and place it into the yellow container | [
[
32,
62,
30,
0,
60,
90,
1
],
[
32,
62,
19,
0,
60,
90,
1
],
[
32,
62,
19,
0,
60,
90,
0
],
[
32,
62,
30,
0,
60,
90,
0
],
[
38,
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 100x100 discrete grid, divided into a 25x... |
[{"<|teal|><|triangular prism|>": ["<|16-13|><|local-0-1|>", 19]}] | [{"<|magenta|><|cylinder|>": ["<|18-14|><|local-2-1|>", 17]}] | LOCATE OBJECTS:
Target Object: <|teal|><|triangular prism|> found at <|16-13|><|local-0-1|> with height 19
Target Placement Location: <|magenta|><|cylinder|> at <|18-14|><|local-2-1|> with height 17
PLAN ACTIONS:
Step 1: Move above <|teal|><|triangular prism|> at <|16-13|><|local-0-1|> with height 30
Step 2: Lower to <... | [{"teal-triangular prism": [64, 53, 19]}, {"magenta-cylinder": [74, 57, 17]}, {"violet-triangular prism": [82, 67, 17]}, {"lime-star": [67, 39, 18]}, {"cyan-cube": [37, 14, 18]}, {"azure-cylinder": [46, 1, 18]}] | Stack the teal triangular prism on top of the magenta cylinder | [
[
64,
53,
30,
0,
60,
90,
1
],
[
64,
53,
19,
0,
60,
90,
1
],
[
64,
53,
19,
0,
60,
90,
0
],
[
64,
53,
30,
0,
60,
90,
0
],
[
74,
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 100x100 discrete grid, divided into a 25x... |
[{"<|red|><|star|>": ["<|7-9|><|local-0-3|>", 18]}] | [{"<|gray|><|container|>": ["<|14-2|><|local-2-0|>", 18]}] | LOCATE OBJECTS:
Target Object: <|red|><|star|> found at <|7-9|><|local-0-3|> with height 18
Target Placement Location: <|gray|><|container|> at <|14-2|><|local-2-0|> with height 18
PLAN ACTIONS:
Step 1: Move above <|red|><|star|> at <|7-9|><|local-0-3|> with height 30
Step 2: Lower to <|red|><|star|> at <|7-9|><|local-... | [{"red-star": [28, 39, 18]}, {"silver-triangular prism": [63, 16, 17]}, {"gray-container": [58, 8, 18]}, {"olive-triangular prism": [66, 47, 17]}, {"gray-cube": [64, 90, 17]}] | Pick up the red star and place it into the gray container | [
[
28,
39,
30,
0,
60,
90,
1
],
[
28,
39,
18,
0,
60,
90,
1
],
[
28,
39,
18,
0,
60,
90,
0
],
[
28,
39,
30,
0,
60,
90,
0
],
[
58,
8,
30,
0,
60,
90,
0
],
[
5... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|silver|><|cylinder|>": ["<|2-0|><|local-1-1|>", 17]}] | [{"<|lime|><|star|>": ["<|22-15|><|local-2-3|>", 18]}] | LOCATE OBJECTS:
Target Object: <|silver|><|cylinder|> found at <|2-0|><|local-1-1|> with height 17
Target Placement Location: <|lime|><|star|> at <|22-15|><|local-2-3|> with height 18
PLAN ACTIONS:
Step 1: Move above <|silver|><|cylinder|> at <|2-0|><|local-1-1|> with height 30
Step 2: Lower to <|silver|><|cylinder|> a... | [{"magenta-moon": [48, 71, 18]}, {"lime-star": [90, 63, 18]}, {"silver-cylinder": [9, 1, 17]}, {"blue-cylinder": [47, 13, 17]}, {"lime-moon": [79, 27, 17]}, {"silver-triangular prism": [84, 37, 17]}] | Stack the silver cylinder on top of the lime star | [
[
9,
1,
30,
0,
60,
90,
1
],
[
9,
1,
17,
0,
60,
90,
1
],
[
9,
1,
17,
0,
60,
90,
0
],
[
9,
1,
30,
0,
60,
90,
0
],
[
90,
63,
30,
0,
60,
90,
0
],
[
90,
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|magenta|><|cube|>": ["<|11-1|><|local-0-2|>", 18]}] | [{"<|violet|><|triangular prism|>": ["<|10-10|><|local-2-2|>", 19]}] | LOCATE OBJECTS:
Target Object: <|magenta|><|cube|> found at <|11-1|><|local-0-2|> with height 18
Target Placement Location: <|violet|><|triangular prism|> at <|10-10|><|local-2-2|> with height 19
PLAN ACTIONS:
Step 1: Move above <|magenta|><|cube|> at <|11-1|><|local-0-2|> with height 30
Step 2: Lower to <|magenta|><|c... | [{"violet-triangular prism": [42, 42, 19]}, {"olive-moon": [27, 41, 17]}, {"green-moon": [68, 79, 17]}, {"magenta-cube": [44, 6, 18]}, {"red-star": [43, 57, 18]}, {"black-moon": [56, 34, 18]}] | Stack the magenta cube on top of the violet triangular prism | [
[
44,
6,
30,
0,
60,
90,
1
],
[
44,
6,
18,
0,
60,
90,
1
],
[
44,
6,
18,
0,
60,
90,
0
],
[
44,
6,
30,
0,
60,
90,
0
],
[
42,
42,
30,
0,
60,
90,
0
],
[
42,
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|navy|><|triangular prism|>": ["<|15-24|><|local-0-1|>", 17]}] | [{"<|white|><|container|>": ["<|6-12|><|local-3-0|>", 19]}] | LOCATE OBJECTS:
Target Object: <|navy|><|triangular prism|> found at <|15-24|><|local-0-1|> with height 17
Target Placement Location: <|white|><|container|> at <|6-12|><|local-3-0|> with height 19
PLAN ACTIONS:
Step 1: Move above <|navy|><|triangular prism|> at <|15-24|><|local-0-1|> with height 30
Step 2: Lower to <|n... | [{"white-container": [27, 48, 19]}, {"white-moon": [46, 73, 17]}, {"yellow-star": [11, 46, 18]}, {"navy-triangular prism": [60, 97, 17]}, {"white-cube": [16, 52, 17]}, {"violet-moon": [6, 54, 17]}, {"teal-moon": [92, 51, 17]}] | Pick up the navy triangular prism and place it into the white container | [
[
60,
97,
30,
0,
60,
90,
1
],
[
60,
97,
17,
0,
60,
90,
1
],
[
60,
97,
17,
0,
60,
90,
0
],
[
60,
97,
30,
0,
60,
90,
0
],
[
27,
48,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|azure|><|moon|>": ["<|6-20|><|local-2-3|>", 17]}] | [{"<|teal|><|container|>": ["<|2-5|><|local-2-2|>", 17]}] | LOCATE OBJECTS:
Target Object: <|azure|><|moon|> found at <|6-20|><|local-2-3|> with height 17
Target Placement Location: <|teal|><|container|> at <|2-5|><|local-2-2|> with height 17
PLAN ACTIONS:
Step 1: Move above <|azure|><|moon|> at <|6-20|><|local-2-3|> with height 30
Step 2: Lower to <|azure|><|moon|> at <|6-20|>... | [{"white-cube": [1, 75, 18]}, {"red-star": [84, 78, 18]}, {"purple-cylinder": [21, 19, 18]}, {"teal-star": [75, 51, 18]}, {"teal-container": [10, 22, 17]}, {"azure-moon": [26, 83, 17]}, {"teal-triangular prism": [17, 21, 17]}] | Pick up the azure moon and place it into the teal 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
],
[
10,
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 100x100 discrete grid, divided into a 25x... |
[{"<|purple|><|star|>": ["<|16-12|><|local-0-0|>", 17]}] | [{"<|white|><|container|>": ["<|10-3|><|local-0-0|>", 18]}] | LOCATE OBJECTS:
Target Object: <|purple|><|star|> found at <|16-12|><|local-0-0|> with height 17
Target Placement Location: <|white|><|container|> at <|10-3|><|local-0-0|> with height 18
PLAN ACTIONS:
Step 1: Move above <|purple|><|star|> at <|16-12|><|local-0-0|> with height 30
Step 2: Lower to <|purple|><|star|> at <... | [{"navy-star": [50, 0, 18]}, {"purple-star": [64, 48, 17]}, {"red-triangular prism": [59, 1, 18]}, {"white-container": [40, 12, 18]}, {"yellow-moon": [43, 32, 17]}] | Pick up the purple star and place it into the white container | [
[
64,
48,
30,
0,
60,
90,
1
],
[
64,
48,
17,
0,
60,
90,
1
],
[
64,
48,
17,
0,
60,
90,
0
],
[
64,
48,
30,
0,
60,
90,
0
],
[
40,
12,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|teal|><|cylinder|>": ["<|15-16|><|local-0-2|>", 18]}] | [{"<|white|><|container|>": ["<|5-17|><|local-3-1|>", 19]}] | LOCATE OBJECTS:
Target Object: <|teal|><|cylinder|> found at <|15-16|><|local-0-2|> with height 18
Target Placement Location: <|white|><|container|> at <|5-17|><|local-3-1|> with height 19
PLAN ACTIONS:
Step 1: Move above <|teal|><|cylinder|> at <|15-16|><|local-0-2|> with height 30
Step 2: Lower to <|teal|><|cylinder|... | [{"teal-cylinder": [60, 66, 18]}, {"purple-moon": [59, 82, 17]}, {"white-container": [23, 69, 19]}, {"gray-cube": [61, 54, 17]}, {"red-moon": [60, 20, 18]}, {"olive-cube": [77, 24, 17]}] | Pick up the teal cylinder and place it into the white container | [
[
60,
66,
30,
0,
60,
90,
1
],
[
60,
66,
18,
0,
60,
90,
1
],
[
60,
66,
18,
0,
60,
90,
0
],
[
60,
66,
30,
0,
60,
90,
0
],
[
23,
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 100x100 discrete grid, divided into a 25x... |
[{"<|teal|><|star|>": ["<|8-0|><|local-3-3|>", 18]}] | [{"<|yellow|><|cylinder|>": ["<|14-12|><|local-0-0|>", 18]}] | LOCATE OBJECTS:
Target Object: <|teal|><|star|> found at <|8-0|><|local-3-3|> with height 18
Target Placement Location: <|yellow|><|cylinder|> at <|14-12|><|local-0-0|> with height 18
PLAN ACTIONS:
Step 1: Move above <|teal|><|star|> at <|8-0|><|local-3-3|> with height 30
Step 2: Lower to <|teal|><|star|> at <|8-0|><|l... | [{"lime-moon": [95, 32, 17]}, {"lime-triangular prism": [24, 30, 17]}, {"teal-star": [35, 3, 18]}, {"yellow-cylinder": [56, 48, 18]}, {"maroon-moon": [20, 39, 18]}] | Stack the teal star on top of the yellow cylinder | [
[
35,
3,
30,
0,
60,
90,
1
],
[
35,
3,
18,
0,
60,
90,
1
],
[
35,
3,
18,
0,
60,
90,
0
],
[
35,
3,
30,
0,
60,
90,
0
],
[
56,
48,
30,
0,
60,
90,
0
],
[
56,
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|blue|><|star|>": ["<|24-15|><|local-0-3|>", 18]}] | [{"<|red|><|cylinder|>": ["<|23-7|><|local-0-3|>", 18]}] | LOCATE OBJECTS:
Target Object: <|blue|><|star|> found at <|24-15|><|local-0-3|> with height 18
Target Placement Location: <|red|><|cylinder|> at <|23-7|><|local-0-3|> with height 18
PLAN ACTIONS:
Step 1: Move above <|blue|><|star|> at <|24-15|><|local-0-3|> with height 30
Step 2: Lower to <|blue|><|star|> at <|24-15|><... | [{"azure-star": [14, 42, 17]}, {"lime-star": [60, 55, 18]}, {"red-cylinder": [92, 31, 18]}, {"blue-star": [96, 63, 18]}, {"azure-cylinder": [2, 79, 18]}] | Stack the blue star on top of the red cylinder | [
[
96,
63,
30,
0,
60,
90,
1
],
[
96,
63,
18,
0,
60,
90,
1
],
[
96,
63,
18,
0,
60,
90,
0
],
[
96,
63,
30,
0,
60,
90,
0
],
[
92,
31,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|black|><|star|>": ["<|9-21|><|local-2-2|>", 18]}] | [{"<|green|><|moon|>": ["<|7-16|><|local-2-2|>", 18]}] | LOCATE OBJECTS:
Target Object: <|black|><|star|> found at <|9-21|><|local-2-2|> with height 18
Target Placement Location: <|green|><|moon|> at <|7-16|><|local-2-2|> with height 18
PLAN ACTIONS:
Step 1: Move above <|black|><|star|> at <|9-21|><|local-2-2|> with height 30
Step 2: Lower to <|black|><|star|> at <|9-21|><|l... | [{"olive-cylinder": [6, 10, 18]}, {"violet-triangular prism": [42, 68, 18]}, {"black-star": [38, 86, 18]}, {"green-moon": [30, 66, 18]}, {"black-cylinder": [19, 37, 17]}] | Stack the black star on top of the green moon | [
[
38,
86,
30,
0,
60,
90,
1
],
[
38,
86,
18,
0,
60,
90,
1
],
[
38,
86,
18,
0,
60,
90,
0
],
[
38,
86,
30,
0,
60,
90,
0
],
[
30,
66,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|magenta|><|star|>": ["<|20-4|><|local-0-1|>", 17]}] | [{"<|white|><|container|>": ["<|5-17|><|local-1-0|>", 17]}] | LOCATE OBJECTS:
Target Object: <|magenta|><|star|> found at <|20-4|><|local-0-1|> with height 17
Target Placement Location: <|white|><|container|> at <|5-17|><|local-1-0|> with height 17
PLAN ACTIONS:
Step 1: Move above <|magenta|><|star|> at <|20-4|><|local-0-1|> with height 30
Step 2: Lower to <|magenta|><|star|> at ... | [{"white-container": [21, 68, 17]}, {"maroon-cylinder": [82, 56, 17]}, {"purple-star": [81, 39, 18]}, {"magenta-star": [80, 17, 17]}, {"lime-cube": [55, 41, 17]}] | Pick up the magenta star and place it into the white container | [
[
80,
17,
30,
0,
60,
90,
1
],
[
80,
17,
17,
0,
60,
90,
1
],
[
80,
17,
17,
0,
60,
90,
0
],
[
80,
17,
30,
0,
60,
90,
0
],
[
21,
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 100x100 discrete grid, divided into a 25x... |
[{"<|violet|><|cube|>": ["<|9-3|><|local-1-0|>", 18]}] | [{"<|lime|><|container|>": ["<|16-17|><|local-2-3|>", 17]}] | LOCATE OBJECTS:
Target Object: <|violet|><|cube|> found at <|9-3|><|local-1-0|> with height 18
Target Placement Location: <|lime|><|container|> at <|16-17|><|local-2-3|> with height 17
PLAN ACTIONS:
Step 1: Move above <|violet|><|cube|> at <|9-3|><|local-1-0|> with height 30
Step 2: Lower to <|violet|><|cube|> at <|9-3... | [{"rose-star": [47, 44, 18]}, {"violet-cube": [37, 12, 18]}, {"azure-moon": [10, 40, 18]}, {"black-star": [43, 91, 18]}, {"maroon-star": [64, 40, 17]}, {"magenta-moon": [15, 16, 18]}, {"lime-container": [66, 71, 17]}] | Pick up the violet cube and place it into the lime container | [
[
37,
12,
30,
0,
60,
90,
1
],
[
37,
12,
18,
0,
60,
90,
1
],
[
37,
12,
18,
0,
60,
90,
0
],
[
37,
12,
30,
0,
60,
90,
0
],
[
66,
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 100x100 discrete grid, divided into a 25x... |
[{"<|purple|><|moon|>": ["<|22-10|><|local-0-3|>", 18]}] | [{"<|blue|><|cylinder|>": ["<|13-4|><|local-3-0|>", 18]}] | LOCATE OBJECTS:
Target Object: <|purple|><|moon|> found at <|22-10|><|local-0-3|> with height 18
Target Placement Location: <|blue|><|cylinder|> at <|13-4|><|local-3-0|> with height 18
PLAN ACTIONS:
Step 1: Move above <|purple|><|moon|> at <|22-10|><|local-0-3|> with height 30
Step 2: Lower to <|purple|><|moon|> at <|2... | [{"cyan-star": [74, 64, 17]}, {"green-cube": [67, 48, 18]}, {"cyan-moon": [58, 1, 18]}, {"cyan-triangular prism": [31, 77, 18]}, {"purple-moon": [88, 43, 18]}, {"cyan-cylinder": [17, 33, 18]}, {"blue-cylinder": [55, 16, 18]}] | Stack the purple moon on top of the blue cylinder | [
[
88,
43,
30,
0,
60,
90,
1
],
[
88,
43,
18,
0,
60,
90,
1
],
[
88,
43,
18,
0,
60,
90,
0
],
[
88,
43,
30,
0,
60,
90,
0
],
[
55,
16,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|navy|><|triangular prism|>": ["<|16-3|><|local-0-3|>", 17]}] | [{"<|black|><|cylinder|>": ["<|10-13|><|local-2-0|>", 19]}] | LOCATE OBJECTS:
Target Object: <|navy|><|triangular prism|> found at <|16-3|><|local-0-3|> with height 17
Target Placement Location: <|black|><|cylinder|> at <|10-13|><|local-2-0|> with height 19
PLAN ACTIONS:
Step 1: Move above <|navy|><|triangular prism|> at <|16-3|><|local-0-3|> with height 30
Step 2: Lower to <|nav... | [{"navy-moon": [72, 77, 17]}, {"black-cylinder": [42, 52, 19]}, {"purple-triangular prism": [85, 32, 18]}, {"navy-cube": [12, 22, 17]}, {"navy-triangular prism": [64, 15, 17]}] | Stack the navy triangular prism on top of the black cylinder | [
[
64,
15,
30,
0,
60,
90,
1
],
[
64,
15,
17,
0,
60,
90,
1
],
[
64,
15,
17,
0,
60,
90,
0
],
[
64,
15,
30,
0,
60,
90,
0
],
[
42,
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 100x100 discrete grid, divided into a 25x... |
[{"<|lime|><|cube|>": ["<|24-6|><|local-1-0|>", 18]}] | [{"<|azure|><|cylinder|>": ["<|0-22|><|local-2-0|>", 18]}] | LOCATE OBJECTS:
Target Object: <|lime|><|cube|> found at <|24-6|><|local-1-0|> with height 18
Target Placement Location: <|azure|><|cylinder|> at <|0-22|><|local-2-0|> with height 18
PLAN ACTIONS:
Step 1: Move above <|lime|><|cube|> at <|24-6|><|local-1-0|> with height 30
Step 2: Lower to <|lime|><|cube|> at <|24-6|><|... | [{"rose-cylinder": [76, 56, 17]}, {"azure-cylinder": [2, 88, 18]}, {"lime-cube": [97, 24, 18]}, {"blue-moon": [4, 22, 18]}, {"black-cube": [10, 35, 17]}, {"purple-star": [10, 77, 18]}, {"azure-star": [45, 86, 18]}] | Stack the lime cube on top of the azure cylinder | [
[
97,
24,
30,
0,
60,
90,
1
],
[
97,
24,
18,
0,
60,
90,
1
],
[
97,
24,
18,
0,
60,
90,
0
],
[
97,
24,
30,
0,
60,
90,
0
],
[
2,
88,
30,
0,
60,
90,
0
],
[
2... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|green|><|star|>": ["<|4-20|><|local-3-3|>", 18]}] | [{"<|red|><|star|>": ["<|20-20|><|local-0-0|>", 19]}] | LOCATE OBJECTS:
Target Object: <|green|><|star|> found at <|4-20|><|local-3-3|> with height 18
Target Placement Location: <|red|><|star|> at <|20-20|><|local-0-0|> with height 19
PLAN ACTIONS:
Step 1: Move above <|green|><|star|> at <|4-20|><|local-3-3|> with height 30
Step 2: Lower to <|green|><|star|> at <|4-20|><|lo... | [{"red-star": [80, 80, 19]}, {"violet-star": [15, 31, 17]}, {"magenta-cube": [28, 88, 18]}, {"white-cube": [7, 16, 18]}, {"green-star": [19, 83, 18]}] | Stack the green star on top of the red star | [
[
19,
83,
30,
0,
60,
90,
1
],
[
19,
83,
18,
0,
60,
90,
1
],
[
19,
83,
18,
0,
60,
90,
0
],
[
19,
83,
30,
0,
60,
90,
0
],
[
80,
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 100x100 discrete grid, divided into a 25x... |
[{"<|violet|><|cylinder|>": ["<|5-18|><|local-3-2|>", 17]}] | [{"<|olive|><|container|>": ["<|6-20|><|local-1-2|>", 17]}] | LOCATE OBJECTS:
Target Object: <|violet|><|cylinder|> found at <|5-18|><|local-3-2|> with height 17
Target Placement Location: <|olive|><|container|> at <|6-20|><|local-1-2|> with height 17
PLAN ACTIONS:
Step 1: Move above <|violet|><|cylinder|> at <|5-18|><|local-3-2|> with height 30
Step 2: Lower to <|violet|><|cylin... | [{"olive-container": [25, 82, 17]}, {"rose-star": [82, 83, 18]}, {"navy-star": [94, 56, 18]}, {"blue-triangular prism": [2, 32, 17]}, {"teal-moon": [31, 60, 17]}, {"violet-moon": [11, 29, 18]}, {"violet-cylinder": [23, 74, 17]}] | Pick up the violet cylinder and place it into the olive container | [
[
23,
74,
30,
0,
60,
90,
1
],
[
23,
74,
17,
0,
60,
90,
1
],
[
23,
74,
17,
0,
60,
90,
0
],
[
23,
74,
30,
0,
60,
90,
0
],
[
25,
82,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|cyan|><|triangular prism|>": ["<|15-15|><|local-2-3|>", 17]}] | [{"<|maroon|><|cylinder|>": ["<|8-5|><|local-0-1|>", 17]}] | LOCATE OBJECTS:
Target Object: <|cyan|><|triangular prism|> found at <|15-15|><|local-2-3|> with height 17
Target Placement Location: <|maroon|><|cylinder|> at <|8-5|><|local-0-1|> with height 17
PLAN ACTIONS:
Step 1: Move above <|cyan|><|triangular prism|> at <|15-15|><|local-2-3|> with height 30
Step 2: Lower to <|cy... | [{"silver-moon": [6, 52, 18]}, {"maroon-cube": [88, 45, 18]}, {"navy-triangular prism": [6, 89, 17]}, {"navy-cylinder": [42, 43, 18]}, {"maroon-cylinder": [32, 21, 17]}, {"cyan-cylinder": [98, 4, 18]}, {"cyan-triangular prism": [62, 63, 17]}] | Stack the cyan triangular prism on top of the maroon cylinder | [
[
62,
63,
30,
0,
60,
90,
1
],
[
62,
63,
17,
0,
60,
90,
1
],
[
62,
63,
17,
0,
60,
90,
0
],
[
62,
63,
30,
0,
60,
90,
0
],
[
32,
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 100x100 discrete grid, divided into a 25x... |
[{"<|yellow|><|star|>": ["<|21-2|><|local-2-0|>", 17]}] | [{"<|olive|><|container|>": ["<|17-9|><|local-0-1|>", 19]}] | LOCATE OBJECTS:
Target Object: <|yellow|><|star|> found at <|21-2|><|local-2-0|> with height 17
Target Placement Location: <|olive|><|container|> at <|17-9|><|local-0-1|> with height 19
PLAN ACTIONS:
Step 1: Move above <|yellow|><|star|> at <|21-2|><|local-2-0|> with height 30
Step 2: Lower to <|yellow|><|star|> at <|2... | [{"rose-triangular prism": [32, 92, 17]}, {"green-moon": [87, 27, 18]}, {"rose-cylinder": [85, 22, 18]}, {"yellow-moon": [80, 80, 17]}, {"white-star": [72, 23, 17]}, {"yellow-star": [86, 8, 17]}, {"olive-container": [68, 37, 19]}] | Pick up the yellow star and place it into the olive container | [
[
86,
8,
30,
0,
60,
90,
1
],
[
86,
8,
17,
0,
60,
90,
1
],
[
86,
8,
17,
0,
60,
90,
0
],
[
86,
8,
30,
0,
60,
90,
0
],
[
68,
37,
30,
0,
60,
90,
0
],
[
68,
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|lime|><|triangular prism|>": ["<|15-6|><|local-2-3|>", 17]}] | [{"<|purple|><|container|>": ["<|18-14|><|local-2-3|>", 18]}] | LOCATE OBJECTS:
Target Object: <|lime|><|triangular prism|> found at <|15-6|><|local-2-3|> with height 17
Target Placement Location: <|purple|><|container|> at <|18-14|><|local-2-3|> with height 18
PLAN ACTIONS:
Step 1: Move above <|lime|><|triangular prism|> at <|15-6|><|local-2-3|> with height 30
Step 2: Lower to <|l... | [{"red-triangular prism": [49, 64, 17]}, {"black-moon": [94, 79, 17]}, {"maroon-triangular prism": [71, 77, 17]}, {"lime-triangular prism": [62, 27, 17]}, {"purple-container": [74, 59, 18]}, {"red-star": [1, 19, 17]}, {"black-cylinder": [96, 67, 18]}] | Pick up the lime triangular prism and place it into the purple container | [
[
62,
27,
30,
0,
60,
90,
1
],
[
62,
27,
17,
0,
60,
90,
1
],
[
62,
27,
17,
0,
60,
90,
0
],
[
62,
27,
30,
0,
60,
90,
0
],
[
74,
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 100x100 discrete grid, divided into a 25x... |
[{"<|green|><|cylinder|>": ["<|3-7|><|local-1-1|>", 18]}] | [{"<|magenta|><|moon|>": ["<|15-16|><|local-2-1|>", 17]}] | LOCATE OBJECTS:
Target Object: <|green|><|cylinder|> found at <|3-7|><|local-1-1|> with height 18
Target Placement Location: <|magenta|><|moon|> at <|15-16|><|local-2-1|> with height 17
PLAN ACTIONS:
Step 1: Move above <|green|><|cylinder|> at <|3-7|><|local-1-1|> with height 30
Step 2: Lower to <|green|><|cylinder|> a... | [{"olive-triangular prism": [68, 0, 17]}, {"black-moon": [21, 20, 17]}, {"yellow-cube": [97, 60, 17]}, {"green-cylinder": [13, 29, 18]}, {"silver-moon": [2, 12, 17]}, {"magenta-moon": [62, 65, 17]}] | Stack the green cylinder on top of the magenta moon | [
[
13,
29,
30,
0,
60,
90,
1
],
[
13,
29,
18,
0,
60,
90,
1
],
[
13,
29,
18,
0,
60,
90,
0
],
[
13,
29,
30,
0,
60,
90,
0
],
[
62,
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 100x100 discrete grid, divided into a 25x... |
[{"<|blue|><|cube|>": ["<|5-4|><|local-0-1|>", 17]}] | [{"<|violet|><|container|>": ["<|9-20|><|local-3-2|>", 18]}] | LOCATE OBJECTS:
Target Object: <|blue|><|cube|> found at <|5-4|><|local-0-1|> with height 17
Target Placement Location: <|violet|><|container|> at <|9-20|><|local-3-2|> with height 18
PLAN ACTIONS:
Step 1: Move above <|blue|><|cube|> at <|5-4|><|local-0-1|> with height 30
Step 2: Lower to <|blue|><|cube|> at <|5-4|><|l... | [{"blue-cube": [20, 17, 17]}, {"olive-star": [0, 65, 18]}, {"azure-triangular prism": [63, 82, 18]}, {"navy-moon": [68, 30, 18]}, {"violet-container": [39, 82, 18]}] | Pick up the blue cube and place it into the violet container | [
[
20,
17,
30,
0,
60,
90,
1
],
[
20,
17,
17,
0,
60,
90,
1
],
[
20,
17,
17,
0,
60,
90,
0
],
[
20,
17,
30,
0,
60,
90,
0
],
[
39,
82,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|yellow|><|star|>": ["<|11-5|><|local-0-3|>", 17]}] | [{"<|purple|><|container|>": ["<|8-6|><|local-2-3|>", 17]}] | LOCATE OBJECTS:
Target Object: <|yellow|><|star|> found at <|11-5|><|local-0-3|> with height 17
Target Placement Location: <|purple|><|container|> at <|8-6|><|local-2-3|> with height 17
PLAN ACTIONS:
Step 1: Move above <|yellow|><|star|> at <|11-5|><|local-0-3|> with height 30
Step 2: Lower to <|yellow|><|star|> at <|1... | [{"white-triangular prism": [17, 66, 18]}, {"lime-moon": [94, 95, 17]}, {"yellow-star": [44, 23, 17]}, {"purple-container": [34, 27, 17]}, {"green-cylinder": [36, 13, 17]}] | Pick up the yellow star and place it into the purple container | [
[
44,
23,
30,
0,
60,
90,
1
],
[
44,
23,
17,
0,
60,
90,
1
],
[
44,
23,
17,
0,
60,
90,
0
],
[
44,
23,
30,
0,
60,
90,
0
],
[
34,
27,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|azure|><|moon|>": ["<|12-2|><|local-3-0|>", 17]}] | [{"<|magenta|><|moon|>": ["<|24-11|><|local-1-1|>", 17]}] | LOCATE OBJECTS:
Target Object: <|azure|><|moon|> found at <|12-2|><|local-3-0|> with height 17
Target Placement Location: <|magenta|><|moon|> at <|24-11|><|local-1-1|> with height 17
PLAN ACTIONS:
Step 1: Move above <|azure|><|moon|> at <|12-2|><|local-3-0|> with height 30
Step 2: Lower to <|azure|><|moon|> at <|12-2|>... | [{"cyan-triangular prism": [37, 53, 18]}, {"azure-moon": [51, 8, 17]}, {"purple-star": [59, 53, 17]}, {"white-cube": [54, 64, 18]}, {"olive-cube": [1, 2, 17]}, {"magenta-moon": [97, 45, 17]}] | Stack the azure moon on top of the magenta moon | [
[
51,
8,
30,
0,
60,
90,
1
],
[
51,
8,
17,
0,
60,
90,
1
],
[
51,
8,
17,
0,
60,
90,
0
],
[
51,
8,
30,
0,
60,
90,
0
],
[
97,
45,
30,
0,
60,
90,
0
],
[
97,
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|lime|><|cube|>": ["<|20-1|><|local-2-1|>", 18]}] | [{"<|silver|><|container|>": ["<|1-21|><|local-0-1|>", 18]}] | LOCATE OBJECTS:
Target Object: <|lime|><|cube|> found at <|20-1|><|local-2-1|> with height 18
Target Placement Location: <|silver|><|container|> at <|1-21|><|local-0-1|> with height 18
PLAN ACTIONS:
Step 1: Move above <|lime|><|cube|> at <|20-1|><|local-2-1|> with height 30
Step 2: Lower to <|lime|><|cube|> at <|20-1|>... | [{"teal-star": [61, 12, 17]}, {"black-cube": [38, 26, 17]}, {"lime-cube": [82, 5, 18]}, {"silver-container": [4, 85, 18]}, {"lime-triangular prism": [6, 17, 17]}, {"azure-cylinder": [12, 53, 18]}] | Pick up the lime cube and place it into the silver container | [
[
82,
5,
30,
0,
60,
90,
1
],
[
82,
5,
18,
0,
60,
90,
1
],
[
82,
5,
18,
0,
60,
90,
0
],
[
82,
5,
30,
0,
60,
90,
0
],
[
4,
85,
30,
0,
60,
90,
0
],
[
4,
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|teal|><|star|>": ["<|19-6|><|local-2-2|>", 18]}] | [{"<|yellow|><|container|>": ["<|5-20|><|local-2-0|>", 18]}] | LOCATE OBJECTS:
Target Object: <|teal|><|star|> found at <|19-6|><|local-2-2|> with height 18
Target Placement Location: <|yellow|><|container|> at <|5-20|><|local-2-0|> with height 18
PLAN ACTIONS:
Step 1: Move above <|teal|><|star|> at <|19-6|><|local-2-2|> with height 30
Step 2: Lower to <|teal|><|star|> at <|19-6|>... | [{"purple-moon": [15, 93, 17]}, {"cyan-cylinder": [77, 7, 18]}, {"violet-moon": [84, 5, 18]}, {"yellow-container": [22, 80, 18]}, {"red-star": [64, 93, 18]}, {"teal-star": [78, 26, 18]}] | Pick up the teal star and place it into the yellow container | [
[
78,
26,
30,
0,
60,
90,
1
],
[
78,
26,
18,
0,
60,
90,
1
],
[
78,
26,
18,
0,
60,
90,
0
],
[
78,
26,
30,
0,
60,
90,
0
],
[
22,
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 100x100 discrete grid, divided into a 25x... |
[{"<|red|><|moon|>": ["<|18-11|><|local-2-2|>", 19]}] | [{"<|gray|><|triangular prism|>": ["<|9-3|><|local-1-2|>", 19]}] | LOCATE OBJECTS:
Target Object: <|red|><|moon|> found at <|18-11|><|local-2-2|> with height 19
Target Placement Location: <|gray|><|triangular prism|> at <|9-3|><|local-1-2|> with height 19
PLAN ACTIONS:
Step 1: Move above <|red|><|moon|> at <|18-11|><|local-2-2|> with height 30
Step 2: Lower to <|red|><|moon|> at <|18-... | [{"gray-triangular prism": [37, 14, 19]}, {"red-moon": [74, 46, 19]}, {"white-cube": [2, 35, 18]}, {"azure-triangular prism": [81, 70, 17]}, {"olive-moon": [75, 0, 17]}] | Stack the red moon on top of the gray triangular prism | [
[
74,
46,
30,
0,
60,
90,
1
],
[
74,
46,
19,
0,
60,
90,
1
],
[
74,
46,
19,
0,
60,
90,
0
],
[
74,
46,
30,
0,
60,
90,
0
],
[
37,
14,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|maroon|><|moon|>": ["<|2-4|><|local-0-2|>", 19]}] | [{"<|violet|><|triangular prism|>": ["<|19-8|><|local-2-2|>", 19]}] | LOCATE OBJECTS:
Target Object: <|maroon|><|moon|> found at <|2-4|><|local-0-2|> with height 19
Target Placement Location: <|violet|><|triangular prism|> at <|19-8|><|local-2-2|> with height 19
PLAN ACTIONS:
Step 1: Move above <|maroon|><|moon|> at <|2-4|><|local-0-2|> with height 30
Step 2: Lower to <|maroon|><|moon|> ... | [{"blue-cube": [87, 98, 18]}, {"maroon-moon": [8, 18, 19]}, {"blue-cylinder": [58, 29, 18]}, {"teal-cylinder": [21, 50, 17]}, {"violet-triangular prism": [78, 34, 19]}, {"olive-triangular prism": [2, 41, 18]}, {"olive-cube": [91, 49, 18]}] | Stack the maroon moon on top of the violet triangular prism | [
[
8,
18,
30,
0,
60,
90,
1
],
[
8,
18,
19,
0,
60,
90,
1
],
[
8,
18,
19,
0,
60,
90,
0
],
[
8,
18,
30,
0,
60,
90,
0
],
[
78,
34,
30,
0,
60,
90,
0
],
[
78,
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|navy|><|cube|>": ["<|21-21|><|local-1-2|>", 18]}] | [{"<|red|><|cube|>": ["<|21-0|><|local-2-0|>", 17]}] | LOCATE OBJECTS:
Target Object: <|navy|><|cube|> found at <|21-21|><|local-1-2|> with height 18
Target Placement Location: <|red|><|cube|> at <|21-0|><|local-2-0|> with height 17
PLAN ACTIONS:
Step 1: Move above <|navy|><|cube|> at <|21-21|><|local-1-2|> with height 30
Step 2: Lower to <|navy|><|cube|> at <|21-21|><|loc... | [{"green-moon": [5, 70, 17]}, {"yellow-cube": [58, 24, 18]}, {"red-cube": [86, 0, 17]}, {"lime-star": [64, 17, 17]}, {"violet-triangular prism": [43, 61, 18]}, {"navy-cube": [85, 86, 18]}] | Stack the navy cube on top of the red cube | [
[
85,
86,
30,
0,
60,
90,
1
],
[
85,
86,
18,
0,
60,
90,
1
],
[
85,
86,
18,
0,
60,
90,
0
],
[
85,
86,
30,
0,
60,
90,
0
],
[
86,
0,
30,
0,
60,
90,
0
],
[
8... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|purple|><|star|>": ["<|23-12|><|local-2-2|>", 17]}] | [{"<|lime|><|cylinder|>": ["<|15-6|><|local-1-3|>", 18]}] | LOCATE OBJECTS:
Target Object: <|purple|><|star|> found at <|23-12|><|local-2-2|> with height 17
Target Placement Location: <|lime|><|cylinder|> at <|15-6|><|local-1-3|> with height 18
PLAN ACTIONS:
Step 1: Move above <|purple|><|star|> at <|23-12|><|local-2-2|> with height 30
Step 2: Lower to <|purple|><|star|> at <|2... | [{"olive-cube": [72, 69, 18]}, {"purple-star": [94, 50, 17]}, {"lime-cylinder": [61, 27, 18]}, {"maroon-cube": [87, 46, 17]}, {"teal-moon": [77, 26, 18]}] | Stack the purple star on top of the lime cylinder | [
[
94,
50,
30,
0,
60,
90,
1
],
[
94,
50,
17,
0,
60,
90,
1
],
[
94,
50,
17,
0,
60,
90,
0
],
[
94,
50,
30,
0,
60,
90,
0
],
[
61,
27,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|cyan|><|cube|>": ["<|21-5|><|local-0-1|>", 17]}] | [{"<|azure|><|moon|>": ["<|22-12|><|local-1-2|>", 17]}] | LOCATE OBJECTS:
Target Object: <|cyan|><|cube|> found at <|21-5|><|local-0-1|> with height 17
Target Placement Location: <|azure|><|moon|> at <|22-12|><|local-1-2|> with height 17
PLAN ACTIONS:
Step 1: Move above <|cyan|><|cube|> at <|21-5|><|local-0-1|> with height 30
Step 2: Lower to <|cyan|><|cube|> at <|21-5|><|loc... | [{"purple-cube": [94, 57, 17]}, {"azure-star": [57, 70, 17]}, {"cyan-cube": [84, 21, 17]}, {"azure-moon": [89, 50, 17]}, {"white-cylinder": [17, 4, 17]}, {"blue-triangular prism": [19, 19, 18]}] | Stack the cyan cube on top of the azure moon | [
[
84,
21,
30,
0,
60,
90,
1
],
[
84,
21,
17,
0,
60,
90,
1
],
[
84,
21,
17,
0,
60,
90,
0
],
[
84,
21,
30,
0,
60,
90,
0
],
[
89,
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 100x100 discrete grid, divided into a 25x... |
[{"<|teal|><|cube|>": ["<|23-2|><|local-3-1|>", 17]}] | [{"<|maroon|><|container|>": ["<|5-11|><|local-0-3|>", 17]}] | LOCATE OBJECTS:
Target Object: <|teal|><|cube|> found at <|23-2|><|local-3-1|> with height 17
Target Placement Location: <|maroon|><|container|> at <|5-11|><|local-0-3|> with height 17
PLAN ACTIONS:
Step 1: Move above <|teal|><|cube|> at <|23-2|><|local-3-1|> with height 30
Step 2: Lower to <|teal|><|cube|> at <|23-2|>... | [{"blue-star": [26, 68, 17]}, {"maroon-container": [20, 47, 17]}, {"teal-cube": [95, 9, 17]}, {"red-cylinder": [14, 60, 18]}, {"lime-cylinder": [13, 84, 18]}, {"black-cylinder": [67, 80, 17]}, {"gray-moon": [74, 73, 18]}] | Pick up the teal cube and place it into the maroon container | [
[
95,
9,
30,
0,
60,
90,
1
],
[
95,
9,
17,
0,
60,
90,
1
],
[
95,
9,
17,
0,
60,
90,
0
],
[
95,
9,
30,
0,
60,
90,
0
],
[
20,
47,
30,
0,
60,
90,
0
],
[
20,
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|violet|><|cube|>": ["<|4-9|><|local-3-3|>", 18]}] | [{"<|green|><|container|>": ["<|23-17|><|local-3-3|>", 17]}] | LOCATE OBJECTS:
Target Object: <|violet|><|cube|> found at <|4-9|><|local-3-3|> with height 18
Target Placement Location: <|green|><|container|> at <|23-17|><|local-3-3|> with height 17
PLAN ACTIONS:
Step 1: Move above <|violet|><|cube|> at <|4-9|><|local-3-3|> with height 30
Step 2: Lower to <|violet|><|cube|> at <|4-... | [{"azure-cube": [30, 93, 17]}, {"green-container": [95, 71, 17]}, {"green-cube": [13, 23, 17]}, {"violet-cube": [19, 39, 18]}, {"rose-triangular prism": [85, 57, 18]}, {"magenta-triangular prism": [24, 9, 18]}] | Pick up the violet cube and place it into the green container | [
[
19,
39,
30,
0,
60,
90,
1
],
[
19,
39,
18,
0,
60,
90,
1
],
[
19,
39,
18,
0,
60,
90,
0
],
[
19,
39,
30,
0,
60,
90,
0
],
[
95,
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 100x100 discrete grid, divided into a 25x... |
[{"<|black|><|moon|>": ["<|16-11|><|local-1-2|>", 18]}] | [{"<|yellow|><|triangular prism|>": ["<|14-18|><|local-0-3|>", 18]}] | LOCATE OBJECTS:
Target Object: <|black|><|moon|> found at <|16-11|><|local-1-2|> with height 18
Target Placement Location: <|yellow|><|triangular prism|> at <|14-18|><|local-0-3|> with height 18
PLAN ACTIONS:
Step 1: Move above <|black|><|moon|> at <|16-11|><|local-1-2|> with height 30
Step 2: Lower to <|black|><|moon|... | [{"blue-star": [23, 28, 18]}, {"black-moon": [65, 46, 18]}, {"yellow-triangular prism": [56, 75, 18]}, {"azure-cylinder": [35, 3, 17]}, {"magenta-triangular prism": [56, 36, 18]}] | Stack the black moon on top of the yellow triangular prism | [
[
65,
46,
30,
0,
60,
90,
1
],
[
65,
46,
18,
0,
60,
90,
1
],
[
65,
46,
18,
0,
60,
90,
0
],
[
65,
46,
30,
0,
60,
90,
0
],
[
56,
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 100x100 discrete grid, divided into a 25x... |
[{"<|red|><|moon|>": ["<|1-12|><|local-2-2|>", 17]}] | [{"<|blue|><|star|>": ["<|7-9|><|local-3-3|>", 17]}] | LOCATE OBJECTS:
Target Object: <|red|><|moon|> found at <|1-12|><|local-2-2|> with height 17
Target Placement Location: <|blue|><|star|> at <|7-9|><|local-3-3|> with height 17
PLAN ACTIONS:
Step 1: Move above <|red|><|moon|> at <|1-12|><|local-2-2|> with height 30
Step 2: Lower to <|red|><|moon|> at <|1-12|><|local-2-2... | [{"navy-moon": [41, 54, 17]}, {"red-moon": [6, 50, 17]}, {"blue-star": [31, 39, 17]}, {"cyan-cube": [78, 56, 17]}, {"silver-star": [80, 83, 18]}, {"blue-triangular prism": [74, 79, 17]}] | Stack the red moon on top of the blue star | [
[
6,
50,
30,
0,
60,
90,
1
],
[
6,
50,
17,
0,
60,
90,
1
],
[
6,
50,
17,
0,
60,
90,
0
],
[
6,
50,
30,
0,
60,
90,
0
],
[
31,
39,
30,
0,
60,
90,
0
],
[
31,
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|rose|><|moon|>": ["<|4-7|><|local-3-3|>", 19]}] | [{"<|teal|><|container|>": ["<|21-0|><|local-3-1|>", 19]}] | LOCATE OBJECTS:
Target Object: <|rose|><|moon|> found at <|4-7|><|local-3-3|> with height 19
Target Placement Location: <|teal|><|container|> at <|21-0|><|local-3-1|> with height 19
PLAN ACTIONS:
Step 1: Move above <|rose|><|moon|> at <|4-7|><|local-3-3|> with height 30
Step 2: Lower to <|rose|><|moon|> at <|4-7|><|loc... | [{"rose-moon": [19, 31, 19]}, {"olive-moon": [76, 29, 17]}, {"teal-container": [87, 1, 19]}, {"lime-moon": [25, 40, 17]}, {"yellow-cylinder": [4, 11, 18]}, {"silver-triangular prism": [57, 69, 18]}] | Pick up the rose moon and place it into the teal container | [
[
19,
31,
30,
0,
60,
90,
1
],
[
19,
31,
19,
0,
60,
90,
1
],
[
19,
31,
19,
0,
60,
90,
0
],
[
19,
31,
30,
0,
60,
90,
0
],
[
87,
1,
30,
0,
60,
90,
0
],
[
8... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|red|><|star|>": ["<|15-9|><|local-0-3|>", 18]}] | [{"<|rose|><|cube|>": ["<|10-10|><|local-1-0|>", 17]}] | LOCATE OBJECTS:
Target Object: <|red|><|star|> found at <|15-9|><|local-0-3|> with height 18
Target Placement Location: <|rose|><|cube|> at <|10-10|><|local-1-0|> with height 17
PLAN ACTIONS:
Step 1: Move above <|red|><|star|> at <|15-9|><|local-0-3|> with height 30
Step 2: Lower to <|red|><|star|> at <|15-9|><|local-0... | [{"rose-cube": [41, 40, 17]}, {"rose-triangular prism": [87, 89, 17]}, {"red-star": [60, 39, 18]}, {"black-star": [33, 27, 17]}, {"lime-star": [83, 67, 17]}] | Stack the red star on top of the rose cube | [
[
60,
39,
30,
0,
60,
90,
1
],
[
60,
39,
18,
0,
60,
90,
1
],
[
60,
39,
18,
0,
60,
90,
0
],
[
60,
39,
30,
0,
60,
90,
0
],
[
41,
40,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|white|><|cube|>": ["<|20-10|><|local-3-1|>", 18]}] | [{"<|olive|><|cylinder|>": ["<|17-16|><|local-1-3|>", 18]}] | LOCATE OBJECTS:
Target Object: <|white|><|cube|> found at <|20-10|><|local-3-1|> with height 18
Target Placement Location: <|olive|><|cylinder|> at <|17-16|><|local-1-3|> with height 18
PLAN ACTIONS:
Step 1: Move above <|white|><|cube|> at <|20-10|><|local-3-1|> with height 30
Step 2: Lower to <|white|><|cube|> at <|20... | [{"black-triangular prism": [22, 19, 18]}, {"olive-cylinder": [69, 67, 18]}, {"white-cube": [83, 41, 18]}, {"yellow-cylinder": [50, 29, 17]}, {"green-cube": [77, 32, 18]}, {"violet-cylinder": [15, 33, 18]}] | Stack the white cube on top of the olive cylinder | [
[
83,
41,
30,
0,
60,
90,
1
],
[
83,
41,
18,
0,
60,
90,
1
],
[
83,
41,
18,
0,
60,
90,
0
],
[
83,
41,
30,
0,
60,
90,
0
],
[
69,
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 100x100 discrete grid, divided into a 25x... |
[{"<|silver|><|moon|>": ["<|0-13|><|local-2-1|>", 19]}] | [{"<|violet|><|moon|>": ["<|23-21|><|local-0-3|>", 18]}] | LOCATE OBJECTS:
Target Object: <|silver|><|moon|> found at <|0-13|><|local-2-1|> with height 19
Target Placement Location: <|violet|><|moon|> at <|23-21|><|local-0-3|> with height 18
PLAN ACTIONS:
Step 1: Move above <|silver|><|moon|> at <|0-13|><|local-2-1|> with height 30
Step 2: Lower to <|silver|><|moon|> at <|0-13... | [{"yellow-star": [49, 22, 17]}, {"magenta-cube": [6, 46, 17]}, {"purple-moon": [43, 57, 17]}, {"violet-moon": [92, 87, 18]}, {"silver-moon": [2, 53, 19]}] | Stack the silver moon on top of the violet moon | [
[
2,
53,
30,
0,
60,
90,
1
],
[
2,
53,
19,
0,
60,
90,
1
],
[
2,
53,
19,
0,
60,
90,
0
],
[
2,
53,
30,
0,
60,
90,
0
],
[
92,
87,
30,
0,
60,
90,
0
],
[
92,
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|violet|><|moon|>": ["<|10-12|><|local-0-2|>", 18]}] | [{"<|blue|><|container|>": ["<|22-13|><|local-1-2|>", 19]}] | LOCATE OBJECTS:
Target Object: <|violet|><|moon|> found at <|10-12|><|local-0-2|> with height 18
Target Placement Location: <|blue|><|container|> at <|22-13|><|local-1-2|> with height 19
PLAN ACTIONS:
Step 1: Move above <|violet|><|moon|> at <|10-12|><|local-0-2|> with height 30
Step 2: Lower to <|violet|><|moon|> at <... | [{"rose-cylinder": [20, 60, 17]}, {"blue-container": [89, 54, 19]}, {"black-moon": [37, 74, 17]}, {"magenta-cylinder": [23, 47, 18]}, {"green-star": [27, 15, 18]}, {"violet-moon": [40, 50, 18]}] | Pick up the violet moon and place it into the blue container | [
[
40,
50,
30,
0,
60,
90,
1
],
[
40,
50,
18,
0,
60,
90,
1
],
[
40,
50,
18,
0,
60,
90,
0
],
[
40,
50,
30,
0,
60,
90,
0
],
[
89,
54,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|magenta|><|triangular prism|>": ["<|10-7|><|local-3-3|>", 17]}] | [{"<|lime|><|container|>": ["<|0-23|><|local-0-2|>", 19]}] | LOCATE OBJECTS:
Target Object: <|magenta|><|triangular prism|> found at <|10-7|><|local-3-3|> with height 17
Target Placement Location: <|lime|><|container|> at <|0-23|><|local-0-2|> with height 19
PLAN ACTIONS:
Step 1: Move above <|magenta|><|triangular prism|> at <|10-7|><|local-3-3|> with height 30
Step 2: Lower to ... | [{"cyan-star": [67, 36, 18]}, {"teal-cylinder": [97, 2, 18]}, {"violet-triangular prism": [66, 11, 17]}, {"lime-container": [0, 94, 19]}, {"purple-triangular prism": [54, 78, 18]}, {"magenta-triangular prism": [43, 31, 17]}] | Pick up the magenta triangular prism and place it into the lime container | [
[
43,
31,
30,
0,
60,
90,
1
],
[
43,
31,
17,
0,
60,
90,
1
],
[
43,
31,
17,
0,
60,
90,
0
],
[
43,
31,
30,
0,
60,
90,
0
],
[
0,
94,
30,
0,
60,
90,
0
],
[
0... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|rose|><|cylinder|>": ["<|14-20|><|local-0-1|>", 17]}] | [{"<|violet|><|container|>": ["<|3-4|><|local-1-2|>", 17]}] | LOCATE OBJECTS:
Target Object: <|rose|><|cylinder|> found at <|14-20|><|local-0-1|> with height 17
Target Placement Location: <|violet|><|container|> at <|3-4|><|local-1-2|> with height 17
PLAN ACTIONS:
Step 1: Move above <|rose|><|cylinder|> at <|14-20|><|local-0-1|> with height 30
Step 2: Lower to <|rose|><|cylinder|... | [{"violet-container": [13, 18, 17]}, {"rose-cylinder": [56, 81, 17]}, {"yellow-star": [26, 58, 17]}, {"purple-star": [86, 23, 18]}, {"yellow-cube": [90, 56, 18]}] | Pick up the rose cylinder and place it into the violet container | [
[
56,
81,
30,
0,
60,
90,
1
],
[
56,
81,
17,
0,
60,
90,
1
],
[
56,
81,
17,
0,
60,
90,
0
],
[
56,
81,
30,
0,
60,
90,
0
],
[
13,
18,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|azure|><|moon|>": ["<|19-17|><|local-2-3|>", 19]}] | [{"<|violet|><|container|>": ["<|22-23|><|local-0-1|>", 19]}] | LOCATE OBJECTS:
Target Object: <|azure|><|moon|> found at <|19-17|><|local-2-3|> with height 19
Target Placement Location: <|violet|><|container|> at <|22-23|><|local-0-1|> with height 19
PLAN ACTIONS:
Step 1: Move above <|azure|><|moon|> at <|19-17|><|local-2-3|> with height 30
Step 2: Lower to <|azure|><|moon|> at <|... | [{"black-star": [98, 69, 17]}, {"azure-moon": [78, 71, 19]}, {"violet-container": [88, 93, 19]}, {"green-triangular prism": [16, 57, 18]}, {"olive-star": [68, 87, 17]}, {"cyan-triangular prism": [48, 38, 18]}] | Pick up the azure moon and place it into the violet container | [
[
78,
71,
30,
0,
60,
90,
1
],
[
78,
71,
19,
0,
60,
90,
1
],
[
78,
71,
19,
0,
60,
90,
0
],
[
78,
71,
30,
0,
60,
90,
0
],
[
88,
93,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|white|><|cylinder|>": ["<|15-17|><|local-3-0|>", 18]}] | [{"<|gray|><|container|>": ["<|16-19|><|local-3-2|>", 18]}] | LOCATE OBJECTS:
Target Object: <|white|><|cylinder|> found at <|15-17|><|local-3-0|> with height 18
Target Placement Location: <|gray|><|container|> at <|16-19|><|local-3-2|> with height 18
PLAN ACTIONS:
Step 1: Move above <|white|><|cylinder|> at <|15-17|><|local-3-0|> with height 30
Step 2: Lower to <|white|><|cylind... | [{"cyan-cube": [12, 54, 18]}, {"red-cylinder": [32, 84, 18]}, {"purple-star": [0, 55, 17]}, {"white-cylinder": [63, 68, 18]}, {"navy-cube": [20, 33, 18]}, {"teal-star": [16, 88, 17]}, {"gray-container": [67, 78, 18]}] | Pick up the white cylinder and place it into the gray container | [
[
63,
68,
30,
0,
60,
90,
1
],
[
63,
68,
18,
0,
60,
90,
1
],
[
63,
68,
18,
0,
60,
90,
0
],
[
63,
68,
30,
0,
60,
90,
0
],
[
67,
78,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|black|><|cube|>": ["<|15-11|><|local-0-1|>", 18]}] | [{"<|azure|><|container|>": ["<|7-19|><|local-3-3|>", 19]}] | LOCATE OBJECTS:
Target Object: <|black|><|cube|> found at <|15-11|><|local-0-1|> with height 18
Target Placement Location: <|azure|><|container|> at <|7-19|><|local-3-3|> with height 19
PLAN ACTIONS:
Step 1: Move above <|black|><|cube|> at <|15-11|><|local-0-1|> with height 30
Step 2: Lower to <|black|><|cube|> at <|15... | [{"teal-cylinder": [67, 64, 17]}, {"azure-container": [31, 79, 19]}, {"black-cube": [60, 45, 18]}, {"rose-moon": [75, 29, 17]}, {"rose-star": [52, 16, 18]}] | Pick up the black cube and place it into the azure container | [
[
60,
45,
30,
0,
60,
90,
1
],
[
60,
45,
18,
0,
60,
90,
1
],
[
60,
45,
18,
0,
60,
90,
0
],
[
60,
45,
30,
0,
60,
90,
0
],
[
31,
79,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|blue|><|cube|>": ["<|20-13|><|local-0-2|>", 19]}] | [{"<|lime|><|container|>": ["<|6-9|><|local-2-2|>", 17]}] | LOCATE OBJECTS:
Target Object: <|blue|><|cube|> found at <|20-13|><|local-0-2|> with height 19
Target Placement Location: <|lime|><|container|> at <|6-9|><|local-2-2|> with height 17
PLAN ACTIONS:
Step 1: Move above <|blue|><|cube|> at <|20-13|><|local-0-2|> with height 30
Step 2: Lower to <|blue|><|cube|> at <|20-13|>... | [{"gray-cylinder": [57, 63, 18]}, {"purple-cylinder": [71, 7, 18]}, {"lime-container": [26, 38, 17]}, {"blue-cube": [80, 54, 19]}, {"olive-star": [35, 71, 17]}] | Pick up the blue cube and place it into the lime container | [
[
80,
54,
30,
0,
60,
90,
1
],
[
80,
54,
19,
0,
60,
90,
1
],
[
80,
54,
19,
0,
60,
90,
0
],
[
80,
54,
30,
0,
60,
90,
0
],
[
26,
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 100x100 discrete grid, divided into a 25x... |
[{"<|violet|><|cylinder|>": ["<|9-14|><|local-0-0|>", 19]}] | [{"<|purple|><|container|>": ["<|15-12|><|local-1-0|>", 17]}] | LOCATE OBJECTS:
Target Object: <|violet|><|cylinder|> found at <|9-14|><|local-0-0|> with height 19
Target Placement Location: <|purple|><|container|> at <|15-12|><|local-1-0|> with height 17
PLAN ACTIONS:
Step 1: Move above <|violet|><|cylinder|> at <|9-14|><|local-0-0|> with height 30
Step 2: Lower to <|violet|><|cyl... | [{"white-cylinder": [14, 41, 18]}, {"purple-container": [61, 48, 17]}, {"violet-cylinder": [36, 56, 19]}, {"green-cube": [55, 62, 18]}, {"teal-star": [60, 8, 17]}] | Pick up the violet cylinder and place it into the purple container | [
[
36,
56,
30,
0,
60,
90,
1
],
[
36,
56,
19,
0,
60,
90,
1
],
[
36,
56,
19,
0,
60,
90,
0
],
[
36,
56,
30,
0,
60,
90,
0
],
[
61,
48,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|maroon|><|cylinder|>": ["<|19-20|><|local-3-3|>", 19]}] | [{"<|teal|><|cylinder|>": ["<|1-22|><|local-0-1|>", 17]}] | LOCATE OBJECTS:
Target Object: <|maroon|><|cylinder|> found at <|19-20|><|local-3-3|> with height 19
Target Placement Location: <|teal|><|cylinder|> at <|1-22|><|local-0-1|> with height 17
PLAN ACTIONS:
Step 1: Move above <|maroon|><|cylinder|> at <|19-20|><|local-3-3|> with height 30
Step 2: Lower to <|maroon|><|cylin... | [{"maroon-cylinder": [79, 83, 19]}, {"purple-cube": [29, 69, 17]}, {"teal-cube": [90, 54, 18]}, {"green-cylinder": [7, 96, 17]}, {"yellow-triangular prism": [28, 20, 18]}, {"teal-cylinder": [4, 89, 17]}] | Stack the maroon cylinder on top of the teal cylinder | [
[
79,
83,
30,
0,
60,
90,
1
],
[
79,
83,
19,
0,
60,
90,
1
],
[
79,
83,
19,
0,
60,
90,
0
],
[
79,
83,
30,
0,
60,
90,
0
],
[
4,
89,
30,
0,
60,
90,
0
],
[
4... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|purple|><|triangular prism|>": ["<|24-8|><|local-1-0|>", 17]}] | [{"<|azure|><|cube|>": ["<|13-14|><|local-1-3|>", 19]}] | LOCATE OBJECTS:
Target Object: <|purple|><|triangular prism|> found at <|24-8|><|local-1-0|> with height 17
Target Placement Location: <|azure|><|cube|> at <|13-14|><|local-1-3|> with height 19
PLAN ACTIONS:
Step 1: Move above <|purple|><|triangular prism|> at <|24-8|><|local-1-0|> with height 30
Step 2: Lower to <|pur... | [{"rose-cube": [90, 26, 17]}, {"blue-moon": [15, 4, 17]}, {"purple-triangular prism": [97, 32, 17]}, {"azure-cube": [53, 59, 19]}, {"gray-cube": [18, 50, 18]}] | Stack the purple triangular prism on top of the azure cube | [
[
97,
32,
30,
0,
60,
90,
1
],
[
97,
32,
17,
0,
60,
90,
1
],
[
97,
32,
17,
0,
60,
90,
0
],
[
97,
32,
30,
0,
60,
90,
0
],
[
53,
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 100x100 discrete grid, divided into a 25x... |
[{"<|lime|><|cube|>": ["<|20-21|><|local-2-2|>", 18]}] | [{"<|purple|><|container|>": ["<|20-23|><|local-0-2|>", 18]}] | LOCATE OBJECTS:
Target Object: <|lime|><|cube|> found at <|20-21|><|local-2-2|> with height 18
Target Placement Location: <|purple|><|container|> at <|20-23|><|local-0-2|> with height 18
PLAN ACTIONS:
Step 1: Move above <|lime|><|cube|> at <|20-21|><|local-2-2|> with height 30
Step 2: Lower to <|lime|><|cube|> at <|20-... | [{"purple-container": [80, 94, 18]}, {"purple-star": [52, 61, 17]}, {"olive-triangular prism": [61, 3, 18]}, {"maroon-moon": [60, 43, 18]}, {"lime-cube": [82, 86, 18]}, {"yellow-moon": [33, 15, 17]}] | Pick up the lime cube and place it into the purple container | [
[
82,
86,
30,
0,
60,
90,
1
],
[
82,
86,
18,
0,
60,
90,
1
],
[
82,
86,
18,
0,
60,
90,
0
],
[
82,
86,
30,
0,
60,
90,
0
],
[
80,
94,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|red|><|moon|>": ["<|14-14|><|local-3-0|>", 19]}] | [{"<|white|><|cylinder|>": ["<|8-7|><|local-3-3|>", 17]}] | LOCATE OBJECTS:
Target Object: <|red|><|moon|> found at <|14-14|><|local-3-0|> with height 19
Target Placement Location: <|white|><|cylinder|> at <|8-7|><|local-3-3|> with height 17
PLAN ACTIONS:
Step 1: Move above <|red|><|moon|> at <|14-14|><|local-3-0|> with height 30
Step 2: Lower to <|red|><|moon|> at <|14-14|><|l... | [{"rose-triangular prism": [86, 55, 17]}, {"maroon-triangular prism": [90, 55, 18]}, {"red-moon": [59, 56, 19]}, {"red-cube": [62, 77, 17]}, {"rose-cylinder": [37, 97, 17]}, {"white-cylinder": [35, 31, 17]}] | Stack the red moon on top of the white cylinder | [
[
59,
56,
30,
0,
60,
90,
1
],
[
59,
56,
19,
0,
60,
90,
1
],
[
59,
56,
19,
0,
60,
90,
0
],
[
59,
56,
30,
0,
60,
90,
0
],
[
35,
31,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|maroon|><|triangular prism|>": ["<|0-23|><|local-3-2|>", 18]}] | [{"<|teal|><|cylinder|>": ["<|2-10|><|local-1-3|>", 17]}] | LOCATE OBJECTS:
Target Object: <|maroon|><|triangular prism|> found at <|0-23|><|local-3-2|> with height 18
Target Placement Location: <|teal|><|cylinder|> at <|2-10|><|local-1-3|> with height 17
PLAN ACTIONS:
Step 1: Move above <|maroon|><|triangular prism|> at <|0-23|><|local-3-2|> with height 30
Step 2: Lower to <|m... | [{"gray-triangular prism": [14, 96, 18]}, {"maroon-cube": [82, 66, 17]}, {"red-moon": [13, 91, 18]}, {"navy-star": [83, 77, 17]}, {"teal-cylinder": [9, 43, 17]}, {"maroon-triangular prism": [3, 94, 18]}, {"white-triangular prism": [77, 95, 17]}] | Stack the maroon triangular prism on top of the teal cylinder | [
[
3,
94,
30,
0,
60,
90,
1
],
[
3,
94,
18,
0,
60,
90,
1
],
[
3,
94,
18,
0,
60,
90,
0
],
[
3,
94,
30,
0,
60,
90,
0
],
[
9,
43,
30,
0,
60,
90,
0
],
[
9,
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|magenta|><|moon|>": ["<|24-13|><|local-1-0|>", 18]}] | [{"<|green|><|cube|>": ["<|0-23|><|local-0-3|>", 18]}] | LOCATE OBJECTS:
Target Object: <|magenta|><|moon|> found at <|24-13|><|local-1-0|> with height 18
Target Placement Location: <|green|><|cube|> at <|0-23|><|local-0-3|> with height 18
PLAN ACTIONS:
Step 1: Move above <|magenta|><|moon|> at <|24-13|><|local-1-0|> with height 30
Step 2: Lower to <|magenta|><|moon|> at <|2... | [{"green-cube": [0, 95, 18]}, {"magenta-moon": [97, 52, 18]}, {"red-star": [75, 24, 17]}, {"black-star": [51, 91, 17]}, {"cyan-star": [28, 44, 18]}] | Stack the magenta moon on top of the green cube | [
[
97,
52,
30,
0,
60,
90,
1
],
[
97,
52,
18,
0,
60,
90,
1
],
[
97,
52,
18,
0,
60,
90,
0
],
[
97,
52,
30,
0,
60,
90,
0
],
[
0,
95,
30,
0,
60,
90,
0
],
[
0... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|yellow|><|moon|>": ["<|21-12|><|local-3-2|>", 18]}] | [{"<|azure|><|cube|>": ["<|12-7|><|local-0-3|>", 19]}] | LOCATE OBJECTS:
Target Object: <|yellow|><|moon|> found at <|21-12|><|local-3-2|> with height 18
Target Placement Location: <|azure|><|cube|> at <|12-7|><|local-0-3|> with height 19
PLAN ACTIONS:
Step 1: Move above <|yellow|><|moon|> at <|21-12|><|local-3-2|> with height 30
Step 2: Lower to <|yellow|><|moon|> at <|21-1... | [{"gray-triangular prism": [57, 85, 17]}, {"navy-star": [94, 81, 17]}, {"azure-cube": [48, 31, 19]}, {"teal-cube": [54, 35, 17]}, {"yellow-moon": [87, 50, 18]}] | Stack the yellow moon on top of the azure cube | [
[
87,
50,
30,
0,
60,
90,
1
],
[
87,
50,
18,
0,
60,
90,
1
],
[
87,
50,
18,
0,
60,
90,
0
],
[
87,
50,
30,
0,
60,
90,
0
],
[
48,
31,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|magenta|><|cylinder|>": ["<|8-6|><|local-2-2|>", 19]}] | [{"<|yellow|><|moon|>": ["<|4-0|><|local-1-2|>", 19]}] | LOCATE OBJECTS:
Target Object: <|magenta|><|cylinder|> found at <|8-6|><|local-2-2|> with height 19
Target Placement Location: <|yellow|><|moon|> at <|4-0|><|local-1-2|> with height 19
PLAN ACTIONS:
Step 1: Move above <|magenta|><|cylinder|> at <|8-6|><|local-2-2|> with height 30
Step 2: Lower to <|magenta|><|cylinder|... | [{"rose-cube": [74, 20, 18]}, {"magenta-cylinder": [34, 26, 19]}, {"olive-triangular prism": [64, 49, 17]}, {"yellow-moon": [17, 2, 19]}, {"red-cylinder": [22, 16, 17]}] | Stack the magenta cylinder on top of the yellow moon | [
[
34,
26,
30,
0,
60,
90,
1
],
[
34,
26,
19,
0,
60,
90,
1
],
[
34,
26,
19,
0,
60,
90,
0
],
[
34,
26,
30,
0,
60,
90,
0
],
[
17,
2,
30,
0,
60,
90,
0
],
[
1... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|silver|><|cylinder|>": ["<|21-18|><|local-1-2|>", 19]}] | [{"<|rose|><|cylinder|>": ["<|17-19|><|local-0-1|>", 17]}] | LOCATE OBJECTS:
Target Object: <|silver|><|cylinder|> found at <|21-18|><|local-1-2|> with height 19
Target Placement Location: <|rose|><|cylinder|> at <|17-19|><|local-0-1|> with height 17
PLAN ACTIONS:
Step 1: Move above <|silver|><|cylinder|> at <|21-18|><|local-1-2|> with height 30
Step 2: Lower to <|silver|><|cyli... | [{"navy-cylinder": [53, 66, 17]}, {"silver-triangular prism": [14, 70, 18]}, {"rose-cylinder": [68, 77, 17]}, {"silver-cylinder": [85, 74, 19]}, {"green-cube": [25, 18, 17]}, {"yellow-moon": [14, 18, 18]}] | Stack the silver cylinder on top of the rose cylinder | [
[
85,
74,
30,
0,
60,
90,
1
],
[
85,
74,
19,
0,
60,
90,
1
],
[
85,
74,
19,
0,
60,
90,
0
],
[
85,
74,
30,
0,
60,
90,
0
],
[
68,
77,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|cyan|><|cube|>": ["<|23-8|><|local-3-3|>", 18]}] | [{"<|azure|><|moon|>": ["<|19-3|><|local-3-3|>", 18]}] | LOCATE OBJECTS:
Target Object: <|cyan|><|cube|> found at <|23-8|><|local-3-3|> with height 18
Target Placement Location: <|azure|><|moon|> at <|19-3|><|local-3-3|> with height 18
PLAN ACTIONS:
Step 1: Move above <|cyan|><|cube|> at <|23-8|><|local-3-3|> with height 30
Step 2: Lower to <|cyan|><|cube|> at <|23-8|><|loca... | [{"azure-moon": [79, 15, 18]}, {"purple-cylinder": [79, 67, 17]}, {"rose-cube": [78, 24, 18]}, {"blue-moon": [3, 79, 18]}, {"teal-triangular prism": [80, 31, 17]}, {"yellow-cube": [96, 24, 18]}, {"cyan-cube": [95, 35, 18]}] | Stack the cyan cube on top of the azure moon | [
[
95,
35,
30,
0,
60,
90,
1
],
[
95,
35,
18,
0,
60,
90,
1
],
[
95,
35,
18,
0,
60,
90,
0
],
[
95,
35,
30,
0,
60,
90,
0
],
[
79,
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 100x100 discrete grid, divided into a 25x... |
[{"<|azure|><|cylinder|>": ["<|20-21|><|local-0-2|>", 17]}] | [{"<|lime|><|moon|>": ["<|20-10|><|local-2-0|>", 18]}] | LOCATE OBJECTS:
Target Object: <|azure|><|cylinder|> found at <|20-21|><|local-0-2|> with height 17
Target Placement Location: <|lime|><|moon|> at <|20-10|><|local-2-0|> with height 18
PLAN ACTIONS:
Step 1: Move above <|azure|><|cylinder|> at <|20-21|><|local-0-2|> with height 30
Step 2: Lower to <|azure|><|cylinder|> ... | [{"cyan-moon": [38, 0, 17]}, {"purple-moon": [76, 74, 17]}, {"green-triangular prism": [28, 66, 18]}, {"lime-moon": [82, 40, 18]}, {"azure-cylinder": [80, 86, 17]}, {"yellow-triangular prism": [7, 78, 17]}] | Stack the azure cylinder on top of the lime moon | [
[
80,
86,
30,
0,
60,
90,
1
],
[
80,
86,
17,
0,
60,
90,
1
],
[
80,
86,
17,
0,
60,
90,
0
],
[
80,
86,
30,
0,
60,
90,
0
],
[
82,
40,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|teal|><|star|>": ["<|13-6|><|local-0-1|>", 18]}] | [{"<|violet|><|container|>": ["<|1-19|><|local-1-3|>", 19]}] | LOCATE OBJECTS:
Target Object: <|teal|><|star|> found at <|13-6|><|local-0-1|> with height 18
Target Placement Location: <|violet|><|container|> at <|1-19|><|local-1-3|> with height 19
PLAN ACTIONS:
Step 1: Move above <|teal|><|star|> at <|13-6|><|local-0-1|> with height 30
Step 2: Lower to <|teal|><|star|> at <|13-6|>... | [{"violet-container": [5, 79, 19]}, {"azure-star": [8, 19, 18]}, {"white-cube": [78, 47, 18]}, {"violet-moon": [26, 63, 17]}, {"teal-star": [52, 25, 18]}, {"azure-moon": [33, 4, 17]}, {"green-star": [53, 78, 17]}] | Pick up the teal star and place it into the violet container | [
[
52,
25,
30,
0,
60,
90,
1
],
[
52,
25,
18,
0,
60,
90,
1
],
[
52,
25,
18,
0,
60,
90,
0
],
[
52,
25,
30,
0,
60,
90,
0
],
[
5,
79,
30,
0,
60,
90,
0
],
[
5... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|maroon|><|moon|>": ["<|5-12|><|local-2-2|>", 17]}] | [{"<|rose|><|cube|>": ["<|0-14|><|local-3-1|>", 18]}] | LOCATE OBJECTS:
Target Object: <|maroon|><|moon|> found at <|5-12|><|local-2-2|> with height 17
Target Placement Location: <|rose|><|cube|> at <|0-14|><|local-3-1|> with height 18
PLAN ACTIONS:
Step 1: Move above <|maroon|><|moon|> at <|5-12|><|local-2-2|> with height 30
Step 2: Lower to <|maroon|><|moon|> at <|5-12|><... | [{"maroon-moon": [22, 50, 17]}, {"cyan-triangular prism": [74, 81, 17]}, {"rose-cube": [3, 57, 18]}, {"purple-moon": [47, 26, 18]}, {"azure-cube": [83, 36, 17]}, {"red-star": [23, 43, 18]}] | Stack the maroon moon on top of the rose cube | [
[
22,
50,
30,
0,
60,
90,
1
],
[
22,
50,
17,
0,
60,
90,
1
],
[
22,
50,
17,
0,
60,
90,
0
],
[
22,
50,
30,
0,
60,
90,
0
],
[
3,
57,
30,
0,
60,
90,
0
],
[
3... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|black|><|cube|>": ["<|1-5|><|local-2-3|>", 18]}] | [{"<|magenta|><|container|>": ["<|8-1|><|local-0-3|>", 18]}] | LOCATE OBJECTS:
Target Object: <|black|><|cube|> found at <|1-5|><|local-2-3|> with height 18
Target Placement Location: <|magenta|><|container|> at <|8-1|><|local-0-3|> with height 18
PLAN ACTIONS:
Step 1: Move above <|black|><|cube|> at <|1-5|><|local-2-3|> with height 30
Step 2: Lower to <|black|><|cube|> at <|1-5|>... | [{"yellow-star": [6, 72, 18]}, {"silver-star": [30, 12, 17]}, {"black-cube": [6, 23, 18]}, {"magenta-container": [32, 7, 18]}, {"yellow-cylinder": [9, 15, 18]}] | Pick up the black cube and place it into the magenta container | [
[
6,
23,
30,
0,
60,
90,
1
],
[
6,
23,
18,
0,
60,
90,
1
],
[
6,
23,
18,
0,
60,
90,
0
],
[
6,
23,
30,
0,
60,
90,
0
],
[
32,
7,
30,
0,
60,
90,
0
],
[
32,
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|rose|><|cylinder|>": ["<|6-0|><|local-1-3|>", 19]}] | [{"<|red|><|star|>": ["<|4-7|><|local-2-2|>", 18]}] | LOCATE OBJECTS:
Target Object: <|rose|><|cylinder|> found at <|6-0|><|local-1-3|> with height 19
Target Placement Location: <|red|><|star|> at <|4-7|><|local-2-2|> with height 18
PLAN ACTIONS:
Step 1: Move above <|rose|><|cylinder|> at <|6-0|><|local-1-3|> with height 30
Step 2: Lower to <|rose|><|cylinder|> at <|6-0|>... | [{"rose-cylinder": [25, 3, 19]}, {"silver-star": [62, 15, 17]}, {"lime-moon": [90, 77, 18]}, {"blue-triangular prism": [51, 97, 17]}, {"maroon-moon": [84, 68, 18]}, {"teal-moon": [72, 79, 18]}, {"red-star": [18, 30, 18]}] | Stack the rose cylinder on top of the red star | [
[
25,
3,
30,
0,
60,
90,
1
],
[
25,
3,
19,
0,
60,
90,
1
],
[
25,
3,
19,
0,
60,
90,
0
],
[
25,
3,
30,
0,
60,
90,
0
],
[
18,
30,
30,
0,
60,
90,
0
],
[
18,
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|magenta|><|star|>": ["<|10-11|><|local-2-3|>", 19]}] | [{"<|lime|><|container|>": ["<|22-3|><|local-0-1|>", 17]}] | LOCATE OBJECTS:
Target Object: <|magenta|><|star|> found at <|10-11|><|local-2-3|> with height 19
Target Placement Location: <|lime|><|container|> at <|22-3|><|local-0-1|> with height 17
PLAN ACTIONS:
Step 1: Move above <|magenta|><|star|> at <|10-11|><|local-2-3|> with height 30
Step 2: Lower to <|magenta|><|star|> at... | [{"lime-container": [88, 13, 17]}, {"red-moon": [62, 96, 17]}, {"magenta-star": [42, 47, 19]}, {"purple-star": [86, 1, 17]}, {"rose-cube": [10, 29, 18]}] | Pick up the magenta star and place it into the lime container | [
[
42,
47,
30,
0,
60,
90,
1
],
[
42,
47,
19,
0,
60,
90,
1
],
[
42,
47,
19,
0,
60,
90,
0
],
[
42,
47,
30,
0,
60,
90,
0
],
[
88,
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 100x100 discrete grid, divided into a 25x... |
[{"<|olive|><|star|>": ["<|18-16|><|local-2-2|>", 17]}] | [{"<|cyan|><|container|>": ["<|17-18|><|local-0-3|>", 17]}] | LOCATE OBJECTS:
Target Object: <|olive|><|star|> found at <|18-16|><|local-2-2|> with height 17
Target Placement Location: <|cyan|><|container|> at <|17-18|><|local-0-3|> with height 17
PLAN ACTIONS:
Step 1: Move above <|olive|><|star|> at <|18-16|><|local-2-2|> with height 30
Step 2: Lower to <|olive|><|star|> at <|18... | [{"cyan-container": [68, 75, 17]}, {"green-cube": [97, 73, 18]}, {"black-cube": [64, 42, 18]}, {"lime-triangular prism": [46, 67, 18]}, {"cyan-triangular prism": [10, 67, 18]}, {"magenta-cube": [46, 57, 18]}, {"olive-star": [74, 66, 17]}] | Pick up the olive star and place it into the cyan container | [
[
74,
66,
30,
0,
60,
90,
1
],
[
74,
66,
17,
0,
60,
90,
1
],
[
74,
66,
17,
0,
60,
90,
0
],
[
74,
66,
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 100x100 discrete grid, divided into a 25x... |
[{"<|green|><|cube|>": ["<|12-7|><|local-1-0|>", 17]}] | [{"<|black|><|container|>": ["<|16-21|><|local-2-2|>", 18]}] | LOCATE OBJECTS:
Target Object: <|green|><|cube|> found at <|12-7|><|local-1-0|> with height 17
Target Placement Location: <|black|><|container|> at <|16-21|><|local-2-2|> with height 18
PLAN ACTIONS:
Step 1: Move above <|green|><|cube|> at <|12-7|><|local-1-0|> with height 30
Step 2: Lower to <|green|><|cube|> at <|12-... | [{"azure-cylinder": [58, 90, 18]}, {"lime-cube": [11, 82, 17]}, {"green-cube": [49, 28, 17]}, {"olive-cylinder": [5, 70, 18]}, {"black-container": [66, 86, 18]}] | Pick up the green cube and place it into the black container | [
[
49,
28,
30,
0,
60,
90,
1
],
[
49,
28,
17,
0,
60,
90,
1
],
[
49,
28,
17,
0,
60,
90,
0
],
[
49,
28,
30,
0,
60,
90,
0
],
[
66,
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 100x100 discrete grid, divided into a 25x... |
[{"<|cyan|><|cube|>": ["<|16-20|><|local-1-0|>", 17]}] | [{"<|magenta|><|triangular prism|>": ["<|6-6|><|local-3-1|>", 17]}] | LOCATE OBJECTS:
Target Object: <|cyan|><|cube|> found at <|16-20|><|local-1-0|> with height 17
Target Placement Location: <|magenta|><|triangular prism|> at <|6-6|><|local-3-1|> with height 17
PLAN ACTIONS:
Step 1: Move above <|cyan|><|cube|> at <|16-20|><|local-1-0|> with height 30
Step 2: Lower to <|cyan|><|cube|> at... | [{"lime-cube": [31, 11, 18]}, {"yellow-star": [96, 17, 17]}, {"cyan-cube": [65, 80, 17]}, {"magenta-triangular prism": [27, 25, 17]}, {"blue-star": [13, 38, 17]}, {"rose-cube": [88, 81, 18]}] | Stack the cyan cube on top of the magenta triangular prism | [
[
65,
80,
30,
0,
60,
90,
1
],
[
65,
80,
17,
0,
60,
90,
1
],
[
65,
80,
17,
0,
60,
90,
0
],
[
65,
80,
30,
0,
60,
90,
0
],
[
27,
25,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|rose|><|cube|>": ["<|10-21|><|local-2-3|>", 18]}] | [{"<|azure|><|cube|>": ["<|20-12|><|local-2-3|>", 19]}] | LOCATE OBJECTS:
Target Object: <|rose|><|cube|> found at <|10-21|><|local-2-3|> with height 18
Target Placement Location: <|azure|><|cube|> at <|20-12|><|local-2-3|> with height 19
PLAN ACTIONS:
Step 1: Move above <|rose|><|cube|> at <|10-21|><|local-2-3|> with height 30
Step 2: Lower to <|rose|><|cube|> at <|10-21|><|... | [{"rose-cube": [42, 87, 18]}, {"yellow-triangular prism": [85, 79, 18]}, {"azure-cube": [82, 51, 19]}, {"gray-moon": [96, 15, 17]}, {"olive-moon": [76, 6, 17]}] | Stack the rose cube on top of the azure cube | [
[
42,
87,
30,
0,
60,
90,
1
],
[
42,
87,
18,
0,
60,
90,
1
],
[
42,
87,
18,
0,
60,
90,
0
],
[
42,
87,
30,
0,
60,
90,
0
],
[
82,
51,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|cyan|><|triangular prism|>": ["<|6-8|><|local-0-3|>", 19]}] | [{"<|maroon|><|container|>": ["<|16-2|><|local-3-0|>", 17]}] | LOCATE OBJECTS:
Target Object: <|cyan|><|triangular prism|> found at <|6-8|><|local-0-3|> with height 19
Target Placement Location: <|maroon|><|container|> at <|16-2|><|local-3-0|> with height 17
PLAN ACTIONS:
Step 1: Move above <|cyan|><|triangular prism|> at <|6-8|><|local-0-3|> with height 30
Step 2: Lower to <|cyan... | [{"gray-star": [31, 83, 18]}, {"yellow-cylinder": [17, 60, 17]}, {"lime-cube": [3, 32, 18]}, {"silver-star": [93, 71, 17]}, {"cyan-triangular prism": [24, 35, 19]}, {"black-cube": [3, 52, 18]}, {"maroon-container": [67, 8, 17]}] | Pick up the cyan triangular prism and place it into the maroon container | [
[
24,
35,
30,
0,
60,
90,
1
],
[
24,
35,
19,
0,
60,
90,
1
],
[
24,
35,
19,
0,
60,
90,
0
],
[
24,
35,
30,
0,
60,
90,
0
],
[
67,
8,
30,
0,
60,
90,
0
],
[
6... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|violet|><|star|>": ["<|9-2|><|local-1-3|>", 19]}] | [{"<|silver|><|moon|>": ["<|23-14|><|local-3-0|>", 18]}] | LOCATE OBJECTS:
Target Object: <|violet|><|star|> found at <|9-2|><|local-1-3|> with height 19
Target Placement Location: <|silver|><|moon|> at <|23-14|><|local-3-0|> with height 18
PLAN ACTIONS:
Step 1: Move above <|violet|><|star|> at <|9-2|><|local-1-3|> with height 30
Step 2: Lower to <|violet|><|star|> at <|9-2|><... | [{"red-cube": [2, 53, 18]}, {"red-star": [66, 19, 18]}, {"violet-star": [37, 11, 19]}, {"silver-moon": [95, 56, 18]}, {"green-moon": [94, 27, 17]}, {"silver-star": [24, 47, 17]}] | Stack the violet star on top of the silver moon | [
[
37,
11,
30,
0,
60,
90,
1
],
[
37,
11,
19,
0,
60,
90,
1
],
[
37,
11,
19,
0,
60,
90,
0
],
[
37,
11,
30,
0,
60,
90,
0
],
[
95,
56,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|navy|><|cylinder|>": ["<|12-4|><|local-1-1|>", 19]}] | [{"<|green|><|container|>": ["<|16-23|><|local-1-3|>", 17]}] | LOCATE OBJECTS:
Target Object: <|navy|><|cylinder|> found at <|12-4|><|local-1-1|> with height 19
Target Placement Location: <|green|><|container|> at <|16-23|><|local-1-3|> with height 17
PLAN ACTIONS:
Step 1: Move above <|navy|><|cylinder|> at <|12-4|><|local-1-1|> with height 30
Step 2: Lower to <|navy|><|cylinder|>... | [{"green-container": [65, 95, 17]}, {"black-cube": [26, 53, 17]}, {"navy-cylinder": [49, 17, 19]}, {"purple-cube": [48, 51, 17]}, {"teal-cube": [9, 41, 17]}, {"cyan-moon": [64, 18, 18]}, {"yellow-cylinder": [68, 19, 18]}] | Pick up the navy cylinder and place it into the green container | [
[
49,
17,
30,
0,
60,
90,
1
],
[
49,
17,
19,
0,
60,
90,
1
],
[
49,
17,
19,
0,
60,
90,
0
],
[
49,
17,
30,
0,
60,
90,
0
],
[
65,
95,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|maroon|><|cube|>": ["<|1-15|><|local-3-0|>", 18]}] | [{"<|gray|><|container|>": ["<|6-4|><|local-1-1|>", 17]}] | LOCATE OBJECTS:
Target Object: <|maroon|><|cube|> found at <|1-15|><|local-3-0|> with height 18
Target Placement Location: <|gray|><|container|> at <|6-4|><|local-1-1|> with height 17
PLAN ACTIONS:
Step 1: Move above <|maroon|><|cube|> at <|1-15|><|local-3-0|> with height 30
Step 2: Lower to <|maroon|><|cube|> at <|1-1... | [{"gray-container": [25, 17, 17]}, {"yellow-star": [79, 50, 17]}, {"black-moon": [31, 85, 18]}, {"violet-star": [87, 17, 17]}, {"maroon-cube": [7, 60, 18]}, {"silver-triangular prism": [86, 21, 17]}, {"white-moon": [12, 53, 18]}] | Pick up the maroon cube and place it into the gray container | [
[
7,
60,
30,
0,
60,
90,
1
],
[
7,
60,
18,
0,
60,
90,
1
],
[
7,
60,
18,
0,
60,
90,
0
],
[
7,
60,
30,
0,
60,
90,
0
],
[
25,
17,
30,
0,
60,
90,
0
],
[
25,
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|teal|><|star|>": ["<|16-16|><|local-0-3|>", 17]}] | [{"<|rose|><|moon|>": ["<|11-8|><|local-0-3|>", 17]}] | LOCATE OBJECTS:
Target Object: <|teal|><|star|> found at <|16-16|><|local-0-3|> with height 17
Target Placement Location: <|rose|><|moon|> at <|11-8|><|local-0-3|> with height 17
PLAN ACTIONS:
Step 1: Move above <|teal|><|star|> at <|16-16|><|local-0-3|> with height 30
Step 2: Lower to <|teal|><|star|> at <|16-16|><|lo... | [{"lime-cube": [25, 49, 17]}, {"black-moon": [77, 12, 17]}, {"silver-star": [72, 48, 17]}, {"teal-star": [64, 67, 17]}, {"violet-star": [21, 23, 17]}, {"rose-moon": [44, 35, 17]}, {"lime-triangular prism": [10, 65, 17]}] | Stack the teal star on top of the rose moon | [
[
64,
67,
30,
0,
60,
90,
1
],
[
64,
67,
17,
0,
60,
90,
1
],
[
64,
67,
17,
0,
60,
90,
0
],
[
64,
67,
30,
0,
60,
90,
0
],
[
44,
35,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|gray|><|moon|>": ["<|18-17|><|local-2-0|>", 17]}] | [{"<|red|><|container|>": ["<|24-1|><|local-2-1|>", 19]}] | LOCATE OBJECTS:
Target Object: <|gray|><|moon|> found at <|18-17|><|local-2-0|> with height 17
Target Placement Location: <|red|><|container|> at <|24-1|><|local-2-1|> with height 19
PLAN ACTIONS:
Step 1: Move above <|gray|><|moon|> at <|18-17|><|local-2-0|> with height 30
Step 2: Lower to <|gray|><|moon|> at <|18-17|>... | [{"black-cube": [92, 73, 17]}, {"red-container": [98, 5, 19]}, {"olive-moon": [74, 87, 17]}, {"gray-moon": [74, 68, 17]}, {"white-cylinder": [23, 85, 17]}] | Pick up the gray moon and place it into the red container | [
[
74,
68,
30,
0,
60,
90,
1
],
[
74,
68,
17,
0,
60,
90,
1
],
[
74,
68,
17,
0,
60,
90,
0
],
[
74,
68,
30,
0,
60,
90,
0
],
[
98,
5,
30,
0,
60,
90,
0
],
[
9... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|red|><|cylinder|>": ["<|24-20|><|local-2-3|>", 18]}] | [{"<|black|><|container|>": ["<|3-19|><|local-2-1|>", 18]}] | LOCATE OBJECTS:
Target Object: <|red|><|cylinder|> found at <|24-20|><|local-2-3|> with height 18
Target Placement Location: <|black|><|container|> at <|3-19|><|local-2-1|> with height 18
PLAN ACTIONS:
Step 1: Move above <|red|><|cylinder|> at <|24-20|><|local-2-3|> with height 30
Step 2: Lower to <|red|><|cylinder|> a... | [{"cyan-cube": [7, 10, 17]}, {"lime-moon": [12, 93, 18]}, {"black-container": [14, 77, 18]}, {"black-triangular prism": [20, 54, 18]}, {"red-cylinder": [98, 83, 18]}] | Pick up the red cylinder and place it into the black container | [
[
98,
83,
30,
0,
60,
90,
1
],
[
98,
83,
18,
0,
60,
90,
1
],
[
98,
83,
18,
0,
60,
90,
0
],
[
98,
83,
30,
0,
60,
90,
0
],
[
14,
77,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|purple|><|cylinder|>": ["<|8-21|><|local-1-3|>", 17]}] | [{"<|magenta|><|triangular prism|>": ["<|16-4|><|local-0-2|>", 18]}] | LOCATE OBJECTS:
Target Object: <|purple|><|cylinder|> found at <|8-21|><|local-1-3|> with height 17
Target Placement Location: <|magenta|><|triangular prism|> at <|16-4|><|local-0-2|> with height 18
PLAN ACTIONS:
Step 1: Move above <|purple|><|cylinder|> at <|8-21|><|local-1-3|> with height 30
Step 2: Lower to <|purple... | [{"teal-cube": [82, 58, 18]}, {"lime-cube": [50, 33, 17]}, {"red-moon": [9, 53, 18]}, {"purple-cylinder": [33, 87, 17]}, {"magenta-triangular prism": [64, 18, 18]}] | Stack the purple cylinder on top of the magenta triangular prism | [
[
33,
87,
30,
0,
60,
90,
1
],
[
33,
87,
17,
0,
60,
90,
1
],
[
33,
87,
17,
0,
60,
90,
0
],
[
33,
87,
30,
0,
60,
90,
0
],
[
64,
18,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|blue|><|cylinder|>": ["<|10-10|><|local-3-2|>", 19]}] | [{"<|white|><|container|>": ["<|6-24|><|local-3-1|>", 17]}] | LOCATE OBJECTS:
Target Object: <|blue|><|cylinder|> found at <|10-10|><|local-3-2|> with height 19
Target Placement Location: <|white|><|container|> at <|6-24|><|local-3-1|> with height 17
PLAN ACTIONS:
Step 1: Move above <|blue|><|cylinder|> at <|10-10|><|local-3-2|> with height 30
Step 2: Lower to <|blue|><|cylinder|... | [{"lime-cylinder": [3, 92, 18]}, {"yellow-triangular prism": [28, 32, 18]}, {"white-container": [27, 97, 17]}, {"azure-triangular prism": [1, 21, 17]}, {"yellow-cube": [51, 53, 17]}, {"blue-cylinder": [43, 42, 19]}] | Pick up the blue cylinder and place it into the white container | [
[
43,
42,
30,
0,
60,
90,
1
],
[
43,
42,
19,
0,
60,
90,
1
],
[
43,
42,
19,
0,
60,
90,
0
],
[
43,
42,
30,
0,
60,
90,
0
],
[
27,
97,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|white|><|cube|>": ["<|21-14|><|local-2-0|>", 17]}] | [{"<|silver|><|cube|>": ["<|1-2|><|local-0-3|>", 18]}] | LOCATE OBJECTS:
Target Object: <|white|><|cube|> found at <|21-14|><|local-2-0|> with height 17
Target Placement Location: <|silver|><|cube|> at <|1-2|><|local-0-3|> with height 18
PLAN ACTIONS:
Step 1: Move above <|white|><|cube|> at <|21-14|><|local-2-0|> with height 30
Step 2: Lower to <|white|><|cube|> at <|21-14|>... | [{"white-cube": [86, 56, 17]}, {"azure-cylinder": [37, 25, 17]}, {"silver-cube": [4, 11, 18]}, {"violet-moon": [47, 25, 18]}, {"rose-cube": [96, 80, 18]}, {"gray-star": [76, 55, 17]}] | Stack the white cube on top of the silver cube | [
[
86,
56,
30,
0,
60,
90,
1
],
[
86,
56,
17,
0,
60,
90,
1
],
[
86,
56,
17,
0,
60,
90,
0
],
[
86,
56,
30,
0,
60,
90,
0
],
[
4,
11,
30,
0,
60,
90,
0
],
[
4... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|magenta|><|cube|>": ["<|17-2|><|local-2-1|>", 18]}] | [{"<|silver|><|container|>": ["<|0-16|><|local-2-0|>", 18]}] | LOCATE OBJECTS:
Target Object: <|magenta|><|cube|> found at <|17-2|><|local-2-1|> with height 18
Target Placement Location: <|silver|><|container|> at <|0-16|><|local-2-0|> with height 18
PLAN ACTIONS:
Step 1: Move above <|magenta|><|cube|> at <|17-2|><|local-2-1|> with height 30
Step 2: Lower to <|magenta|><|cube|> at... | [{"teal-cylinder": [81, 10, 17]}, {"green-cube": [77, 36, 17]}, {"magenta-cube": [70, 9, 18]}, {"red-moon": [17, 28, 17]}, {"green-moon": [61, 18, 17]}, {"purple-triangular prism": [2, 95, 17]}, {"silver-container": [2, 64, 18]}] | Pick up the magenta cube and place it into the silver container | [
[
70,
9,
30,
0,
60,
90,
1
],
[
70,
9,
18,
0,
60,
90,
1
],
[
70,
9,
18,
0,
60,
90,
0
],
[
70,
9,
30,
0,
60,
90,
0
],
[
2,
64,
30,
0,
60,
90,
0
],
[
2,
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|silver|><|cube|>": ["<|12-3|><|local-3-0|>", 18]}] | [{"<|cyan|><|moon|>": ["<|0-3|><|local-2-0|>", 18]}] | LOCATE OBJECTS:
Target Object: <|silver|><|cube|> found at <|12-3|><|local-3-0|> with height 18
Target Placement Location: <|cyan|><|moon|> at <|0-3|><|local-2-0|> with height 18
PLAN ACTIONS:
Step 1: Move above <|silver|><|cube|> at <|12-3|><|local-3-0|> with height 30
Step 2: Lower to <|silver|><|cube|> at <|12-3|><|... | [{"teal-star": [10, 23, 18]}, {"azure-cube": [50, 1, 17]}, {"yellow-star": [56, 94, 17]}, {"silver-cube": [51, 12, 18]}, {"cyan-moon": [2, 12, 18]}] | Stack the silver cube on top of the cyan moon | [
[
51,
12,
30,
0,
60,
90,
1
],
[
51,
12,
18,
0,
60,
90,
1
],
[
51,
12,
18,
0,
60,
90,
0
],
[
51,
12,
30,
0,
60,
90,
0
],
[
2,
12,
30,
0,
60,
90,
0
],
[
2... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|lime|><|star|>": ["<|12-5|><|local-3-1|>", 19]}] | [{"<|blue|><|container|>": ["<|11-2|><|local-3-3|>", 17]}] | LOCATE OBJECTS:
Target Object: <|lime|><|star|> found at <|12-5|><|local-3-1|> with height 19
Target Placement Location: <|blue|><|container|> at <|11-2|><|local-3-3|> with height 17
PLAN ACTIONS:
Step 1: Move above <|lime|><|star|> at <|12-5|><|local-3-1|> with height 30
Step 2: Lower to <|lime|><|star|> at <|12-5|><|... | [{"blue-container": [47, 11, 17]}, {"lime-star": [51, 21, 19]}, {"azure-moon": [81, 24, 18]}, {"maroon-triangular prism": [7, 54, 18]}, {"violet-cube": [94, 31, 17]}] | Pick up the lime star and place it into the blue container | [
[
51,
21,
30,
0,
60,
90,
1
],
[
51,
21,
19,
0,
60,
90,
1
],
[
51,
21,
19,
0,
60,
90,
0
],
[
51,
21,
30,
0,
60,
90,
0
],
[
47,
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 100x100 discrete grid, divided into a 25x... |
[{"<|blue|><|triangular prism|>": ["<|14-8|><|local-1-0|>", 19]}] | [{"<|azure|><|container|>": ["<|6-19|><|local-2-1|>", 17]}] | LOCATE OBJECTS:
Target Object: <|blue|><|triangular prism|> found at <|14-8|><|local-1-0|> with height 19
Target Placement Location: <|azure|><|container|> at <|6-19|><|local-2-1|> with height 17
PLAN ACTIONS:
Step 1: Move above <|blue|><|triangular prism|> at <|14-8|><|local-1-0|> with height 30
Step 2: Lower to <|blu... | [{"violet-triangular prism": [0, 36, 18]}, {"maroon-cube": [70, 24, 17]}, {"blue-triangular prism": [57, 32, 19]}, {"lime-moon": [83, 17, 18]}, {"lime-cube": [21, 60, 18]}, {"azure-container": [26, 77, 17]}, {"white-cube": [73, 82, 18]}] | Pick up the blue triangular prism and place it into the azure container | [
[
57,
32,
30,
0,
60,
90,
1
],
[
57,
32,
19,
0,
60,
90,
1
],
[
57,
32,
19,
0,
60,
90,
0
],
[
57,
32,
30,
0,
60,
90,
0
],
[
26,
77,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|yellow|><|cylinder|>": ["<|19-22|><|local-0-1|>", 17]}] | [{"<|cyan|><|star|>": ["<|7-16|><|local-3-3|>", 19]}] | LOCATE OBJECTS:
Target Object: <|yellow|><|cylinder|> found at <|19-22|><|local-0-1|> with height 17
Target Placement Location: <|cyan|><|star|> at <|7-16|><|local-3-3|> with height 19
PLAN ACTIONS:
Step 1: Move above <|yellow|><|cylinder|> at <|19-22|><|local-0-1|> with height 30
Step 2: Lower to <|yellow|><|cylinder|... | [{"olive-star": [59, 6, 17]}, {"green-cylinder": [79, 28, 18]}, {"yellow-cylinder": [76, 89, 17]}, {"green-triangular prism": [54, 58, 17]}, {"gray-cube": [75, 45, 17]}, {"cyan-star": [31, 67, 19]}, {"purple-cube": [63, 0, 17]}] | Stack the yellow cylinder on top of the cyan star | [
[
76,
89,
30,
0,
60,
90,
1
],
[
76,
89,
17,
0,
60,
90,
1
],
[
76,
89,
17,
0,
60,
90,
0
],
[
76,
89,
30,
0,
60,
90,
0
],
[
31,
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 100x100 discrete grid, divided into a 25x... |
[{"<|black|><|triangular prism|>": ["<|23-7|><|local-2-1|>", 17]}] | [{"<|white|><|container|>": ["<|4-23|><|local-0-0|>", 17]}] | LOCATE OBJECTS:
Target Object: <|black|><|triangular prism|> found at <|23-7|><|local-2-1|> with height 17
Target Placement Location: <|white|><|container|> at <|4-23|><|local-0-0|> with height 17
PLAN ACTIONS:
Step 1: Move above <|black|><|triangular prism|> at <|23-7|><|local-2-1|> with height 30
Step 2: Lower to <|b... | [{"silver-triangular prism": [96, 91, 18]}, {"magenta-moon": [2, 9, 17]}, {"black-star": [81, 37, 17]}, {"yellow-triangular prism": [95, 60, 18]}, {"black-triangular prism": [94, 29, 17]}, {"white-cylinder": [76, 98, 18]}, {"white-container": [16, 92, 17]}] | Pick up the black triangular prism and place it into the white container | [
[
94,
29,
30,
0,
60,
90,
1
],
[
94,
29,
17,
0,
60,
90,
1
],
[
94,
29,
17,
0,
60,
90,
0
],
[
94,
29,
30,
0,
60,
90,
0
],
[
16,
92,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|maroon|><|triangular prism|>": ["<|4-3|><|local-2-2|>", 19]}] | [{"<|green|><|triangular prism|>": ["<|19-21|><|local-2-2|>", 19]}] | LOCATE OBJECTS:
Target Object: <|maroon|><|triangular prism|> found at <|4-3|><|local-2-2|> with height 19
Target Placement Location: <|green|><|triangular prism|> at <|19-21|><|local-2-2|> with height 19
PLAN ACTIONS:
Step 1: Move above <|maroon|><|triangular prism|> at <|4-3|><|local-2-2|> with height 30
Step 2: Lowe... | [{"green-triangular prism": [78, 86, 19]}, {"cyan-moon": [93, 27, 18]}, {"silver-cylinder": [63, 39, 17]}, {"blue-cylinder": [89, 89, 18]}, {"maroon-triangular prism": [18, 14, 19]}, {"yellow-cube": [21, 42, 18]}] | Stack the maroon triangular prism on top of the green triangular prism | [
[
18,
14,
30,
0,
60,
90,
1
],
[
18,
14,
19,
0,
60,
90,
1
],
[
18,
14,
19,
0,
60,
90,
0
],
[
18,
14,
30,
0,
60,
90,
0
],
[
78,
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 100x100 discrete grid, divided into a 25x... |
[{"<|cyan|><|triangular prism|>": ["<|22-10|><|local-0-2|>", 19]}] | [{"<|navy|><|cube|>": ["<|7-8|><|local-1-1|>", 18]}] | LOCATE OBJECTS:
Target Object: <|cyan|><|triangular prism|> found at <|22-10|><|local-0-2|> with height 19
Target Placement Location: <|navy|><|cube|> at <|7-8|><|local-1-1|> with height 18
PLAN ACTIONS:
Step 1: Move above <|cyan|><|triangular prism|> at <|22-10|><|local-0-2|> with height 30
Step 2: Lower to <|cyan|><|... | [{"cyan-triangular prism": [88, 42, 19]}, {"navy-cube": [29, 33, 18]}, {"magenta-cylinder": [79, 43, 17]}, {"cyan-star": [44, 1, 17]}, {"teal-cube": [53, 88, 18]}, {"lime-cylinder": [83, 10, 17]}] | Stack the cyan triangular prism on top of the navy cube | [
[
88,
42,
30,
0,
60,
90,
1
],
[
88,
42,
19,
0,
60,
90,
1
],
[
88,
42,
19,
0,
60,
90,
0
],
[
88,
42,
30,
0,
60,
90,
0
],
[
29,
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 100x100 discrete grid, divided into a 25x... |
[{"<|yellow|><|cylinder|>": ["<|10-12|><|local-0-0|>", 17]}] | [{"<|gray|><|container|>": ["<|20-19|><|local-3-1|>", 17]}] | LOCATE OBJECTS:
Target Object: <|yellow|><|cylinder|> found at <|10-12|><|local-0-0|> with height 17
Target Placement Location: <|gray|><|container|> at <|20-19|><|local-3-1|> with height 17
PLAN ACTIONS:
Step 1: Move above <|yellow|><|cylinder|> at <|10-12|><|local-0-0|> with height 30
Step 2: Lower to <|yellow|><|cyl... | [{"teal-star": [87, 16, 18]}, {"yellow-cylinder": [40, 48, 17]}, {"gray-container": [83, 77, 17]}, {"magenta-moon": [43, 32, 17]}, {"rose-star": [27, 87, 18]}, {"cyan-moon": [5, 18, 17]}, {"green-moon": [55, 70, 17]}] | Pick up the yellow cylinder and place it into the gray container | [
[
40,
48,
30,
0,
60,
90,
1
],
[
40,
48,
17,
0,
60,
90,
1
],
[
40,
48,
17,
0,
60,
90,
0
],
[
40,
48,
30,
0,
60,
90,
0
],
[
83,
77,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
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