Source_Obj stringlengths 38 56 | Target_Obj stringlengths 38 56 | Thinking stringlengths 565 706 | Object stringlengths 142 293 | instruction stringlengths 41 76 | solution listlengths 6 6 | Conversation listlengths 2 2 |
|---|---|---|---|---|---|---|
[{"<|red|><|cylinder|>": ["<|7-22|>", 18]}] | [{"<|blue|><|star|>": ["<|3-4|>", 17]}] | LOCATE OBJECTS:
Target Object: <|red|><|cylinder|> found at <|7-22|> with height 18
Target Placement Location: <|blue|><|star|> at <|3-4|> with height 17
PLAN ACTIONS:
Step 1: Move above <|red|><|cylinder|> at <|7-22|> with height 30
Step 2: Lower to <|red|><|cylinder|> at <|7-22|> with height 18
Step 3: Close gripper ... | [{"yellow-triangular prism": [57, 76, 18]}, {"olive-cylinder": [69, 76, 17]}, {"red-cylinder": [88, 29, 18]}, {"blue-star": [19, 14, 17]}, {"green-moon": [29, 43, 17]}] | Stack the red cylinder on top of the blue star | [
[
88,
29,
30,
0,
60,
90,
1
],
[
88,
29,
18,
0,
60,
90,
1
],
[
88,
29,
18,
0,
60,
90,
0
],
[
88,
29,
30,
0,
60,
90,
0
],
[
19,
14,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|blue|><|triangular prism|>": ["<|5-15|>", 18]}] | [{"<|gray|><|container|>": ["<|18-21|>", 19]}] | LOCATE OBJECTS:
Target Object: <|blue|><|triangular prism|> found at <|5-15|> with height 18
Target Placement Location: <|gray|><|container|> at <|18-21|> with height 19
PLAN ACTIONS:
Step 1: Move above <|blue|><|triangular prism|> at <|5-15|> with height 30
Step 2: Lower to <|blue|><|triangular prism|> at <|5-15|> wit... | [{"red-triangular prism": [23, 70, 18]}, {"gray-container": [84, 75, 19]}, {"magenta-triangular prism": [46, 51, 17]}, {"red-cylinder": [85, 71, 18]}, {"maroon-moon": [69, 46, 17]}, {"blue-triangular prism": [63, 21, 18]}] | Pick up the blue triangular prism and place it into the gray container | [
[
63,
21,
30,
0,
60,
90,
1
],
[
63,
21,
18,
0,
60,
90,
1
],
[
63,
21,
18,
0,
60,
90,
0
],
[
63,
21,
30,
0,
60,
90,
0
],
[
84,
75,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|magenta|><|cube|>": ["<|6-17|>", 18]}] | [{"<|violet|><|star|>": ["<|13-14|>", 19]}] | LOCATE OBJECTS:
Target Object: <|magenta|><|cube|> found at <|6-17|> with height 18
Target Placement Location: <|violet|><|star|> at <|13-14|> with height 19
PLAN ACTIONS:
Step 1: Move above <|magenta|><|cube|> at <|6-17|> with height 30
Step 2: Lower to <|magenta|><|cube|> at <|6-17|> with height 18
Step 3: Close grip... | [{"violet-star": [57, 54, 19]}, {"blue-star": [67, 90, 17]}, {"gray-moon": [23, 53, 17]}, {"cyan-cylinder": [51, 78, 18]}, {"magenta-cube": [68, 26, 18]}] | Stack the magenta cube on top of the violet star | [
[
68,
26,
30,
0,
60,
90,
1
],
[
68,
26,
18,
0,
60,
90,
1
],
[
68,
26,
18,
0,
60,
90,
0
],
[
68,
26,
30,
0,
60,
90,
0
],
[
57,
54,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|violet|><|star|>": ["<|13-15|>", 18]}] | [{"<|green|><|container|>": ["<|5-21|>", 19]}] | LOCATE OBJECTS:
Target Object: <|violet|><|star|> found at <|13-15|> with height 18
Target Placement Location: <|green|><|container|> at <|5-21|> with height 19
PLAN ACTIONS:
Step 1: Move above <|violet|><|star|> at <|13-15|> with height 30
Step 2: Lower to <|violet|><|star|> at <|13-15|> with height 18
Step 3: Close g... | [{"lime-triangular prism": [42, 52, 17]}, {"green-container": [85, 23, 19]}, {"violet-star": [62, 54, 18]}, {"violet-cube": [24, 81, 18]}, {"cyan-cylinder": [25, 40, 18]}, {"green-cube": [41, 61, 18]}] | Pick up the violet star and place it into the green container | [
[
62,
54,
30,
0,
60,
90,
1
],
[
62,
54,
18,
0,
60,
90,
1
],
[
62,
54,
18,
0,
60,
90,
0
],
[
62,
54,
30,
0,
60,
90,
0
],
[
85,
23,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|gray|><|cube|>": ["<|19-10|>", 17]}] | [{"<|violet|><|container|>": ["<|9-13|>", 17]}] | LOCATE OBJECTS:
Target Object: <|gray|><|cube|> found at <|19-10|> with height 17
Target Placement Location: <|violet|><|container|> at <|9-13|> with height 17
PLAN ACTIONS:
Step 1: Move above <|gray|><|cube|> at <|19-10|> with height 30
Step 2: Lower to <|gray|><|cube|> at <|19-10|> with height 17
Step 3: Close grippe... | [{"gray-cube": [43, 77, 17]}, {"azure-cylinder": [80, 58, 18]}, {"violet-triangular prism": [75, 89, 17]}, {"cyan-cylinder": [25, 23, 17]}, {"violet-container": [55, 37, 17]}] | Pick up the gray cube and place it into the violet container | [
[
43,
77,
30,
0,
60,
90,
1
],
[
43,
77,
17,
0,
60,
90,
1
],
[
43,
77,
17,
0,
60,
90,
0
],
[
43,
77,
30,
0,
60,
90,
0
],
[
55,
37,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|magenta|><|triangular prism|>": ["<|6-21|>", 18]}] | [{"<|cyan|><|moon|>": ["<|10-15|>", 17]}] | LOCATE OBJECTS:
Target Object: <|magenta|><|triangular prism|> found at <|6-21|> with height 18
Target Placement Location: <|cyan|><|moon|> at <|10-15|> with height 17
PLAN ACTIONS:
Step 1: Move above <|magenta|><|triangular prism|> at <|6-21|> with height 30
Step 2: Lower to <|magenta|><|triangular prism|> at <|6-21|>... | [{"green-triangular prism": [56, 59, 18]}, {"magenta-triangular prism": [85, 26, 18]}, {"lime-triangular prism": [54, 84, 18]}, {"black-triangular prism": [38, 75, 17]}, {"silver-moon": [86, 81, 17]}, {"cyan-moon": [60, 40, 17]}] | Stack the magenta triangular prism on top of the cyan moon | [
[
85,
26,
30,
0,
60,
90,
1
],
[
85,
26,
18,
0,
60,
90,
1
],
[
85,
26,
18,
0,
60,
90,
0
],
[
85,
26,
30,
0,
60,
90,
0
],
[
60,
40,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|red|><|triangular prism|>": ["<|15-20|>", 17]}] | [{"<|magenta|><|star|>": ["<|11-4|>", 18]}] | LOCATE OBJECTS:
Target Object: <|red|><|triangular prism|> found at <|15-20|> with height 17
Target Placement Location: <|magenta|><|star|> at <|11-4|> with height 18
PLAN ACTIONS:
Step 1: Move above <|red|><|triangular prism|> at <|15-20|> with height 30
Step 2: Lower to <|red|><|triangular prism|> at <|15-20|> with h... | [{"blue-cylinder": [39, 86, 17]}, {"teal-moon": [26, 55, 17]}, {"azure-cylinder": [20, 57, 18]}, {"red-triangular prism": [83, 61, 17]}, {"magenta-star": [16, 45, 18]}, {"green-moon": [44, 87, 18]}] | Stack the red triangular prism on top of the magenta star | [
[
83,
61,
30,
0,
60,
90,
1
],
[
83,
61,
17,
0,
60,
90,
1
],
[
83,
61,
17,
0,
60,
90,
0
],
[
83,
61,
30,
0,
60,
90,
0
],
[
16,
45,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|olive|><|moon|>": ["<|17-13|>", 17]}] | [{"<|navy|><|moon|>": ["<|16-7|>", 19]}] | LOCATE OBJECTS:
Target Object: <|olive|><|moon|> found at <|17-13|> with height 17
Target Placement Location: <|navy|><|moon|> at <|16-7|> with height 19
PLAN ACTIONS:
Step 1: Move above <|olive|><|moon|> at <|17-13|> with height 30
Step 2: Lower to <|olive|><|moon|> at <|17-13|> with height 17
Step 3: Close gripper on... | [{"navy-cube": [66, 24, 17]}, {"navy-moon": [29, 67, 19]}, {"maroon-star": [33, 29, 18]}, {"magenta-star": [86, 75, 17]}, {"olive-moon": [54, 71, 17]}] | Stack the olive moon on top of the navy moon | [
[
54,
71,
30,
0,
60,
90,
1
],
[
54,
71,
17,
0,
60,
90,
1
],
[
54,
71,
17,
0,
60,
90,
0
],
[
54,
71,
30,
0,
60,
90,
0
],
[
29,
67,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|azure|><|triangular prism|>": ["<|8-17|>", 17]}] | [{"<|lime|><|star|>": ["<|6-10|>", 19]}] | LOCATE OBJECTS:
Target Object: <|azure|><|triangular prism|> found at <|8-17|> with height 17
Target Placement Location: <|lime|><|star|> at <|6-10|> with height 19
PLAN ACTIONS:
Step 1: Move above <|azure|><|triangular prism|> at <|8-17|> with height 30
Step 2: Lower to <|azure|><|triangular prism|> at <|8-17|> with h... | [{"yellow-cylinder": [72, 80, 17]}, {"azure-triangular prism": [70, 35, 17]}, {"gray-cube": [63, 59, 18]}, {"blue-moon": [72, 87, 17]}, {"lime-star": [41, 27, 19]}] | Stack the azure triangular prism on top of the lime star | [
[
70,
35,
30,
0,
60,
90,
1
],
[
70,
35,
17,
0,
60,
90,
1
],
[
70,
35,
17,
0,
60,
90,
0
],
[
70,
35,
30,
0,
60,
90,
0
],
[
41,
27,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|yellow|><|triangular prism|>": ["<|12-12|>", 18]}] | [{"<|red|><|cube|>": ["<|5-17|>", 19]}] | LOCATE OBJECTS:
Target Object: <|yellow|><|triangular prism|> found at <|12-12|> with height 18
Target Placement Location: <|red|><|cube|> at <|5-17|> with height 19
PLAN ACTIONS:
Step 1: Move above <|yellow|><|triangular prism|> at <|12-12|> with height 30
Step 2: Lower to <|yellow|><|triangular prism|> at <|12-12|> w... | [{"red-cube": [68, 22, 19]}, {"magenta-moon": [39, 31, 18]}, {"black-star": [68, 62, 17]}, {"lime-cube": [76, 67, 17]}, {"yellow-triangular prism": [49, 51, 18]}, {"teal-moon": [85, 57, 18]}, {"purple-cylinder": [82, 24, 18]}] | Stack the yellow triangular prism on top of the red cube | [
[
49,
51,
30,
0,
60,
90,
1
],
[
49,
51,
18,
0,
60,
90,
1
],
[
49,
51,
18,
0,
60,
90,
0
],
[
49,
51,
30,
0,
60,
90,
0
],
[
68,
22,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|maroon|><|triangular prism|>": ["<|7-19|>", 18]}] | [{"<|azure|><|triangular prism|>": ["<|4-4|>", 19]}] | LOCATE OBJECTS:
Target Object: <|maroon|><|triangular prism|> found at <|7-19|> with height 18
Target Placement Location: <|azure|><|triangular prism|> at <|4-4|> with height 19
PLAN ACTIONS:
Step 1: Move above <|maroon|><|triangular prism|> at <|7-19|> with height 30
Step 2: Lower to <|maroon|><|triangular prism|> at ... | [{"magenta-cube": [37, 64, 18]}, {"cyan-moon": [72, 57, 18]}, {"green-star": [64, 28, 17]}, {"olive-triangular prism": [60, 78, 18]}, {"azure-triangular prism": [19, 16, 19]}, {"maroon-triangular prism": [78, 30, 18]}, {"lime-star": [67, 43, 17]}] | Stack the maroon triangular prism on top of the azure triangular prism | [
[
78,
30,
30,
0,
60,
90,
1
],
[
78,
30,
18,
0,
60,
90,
1
],
[
78,
30,
18,
0,
60,
90,
0
],
[
78,
30,
30,
0,
60,
90,
0
],
[
19,
16,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|maroon|><|cylinder|>": ["<|11-21|>", 17]}] | [{"<|maroon|><|container|>": ["<|10-3|>", 18]}] | LOCATE OBJECTS:
Target Object: <|maroon|><|cylinder|> found at <|11-21|> with height 17
Target Placement Location: <|maroon|><|container|> at <|10-3|> with height 18
PLAN ACTIONS:
Step 1: Move above <|maroon|><|cylinder|> at <|11-21|> with height 30
Step 2: Lower to <|maroon|><|cylinder|> at <|11-21|> with height 17
St... | [{"maroon-cylinder": [85, 46, 17]}, {"rose-star": [20, 30, 18]}, {"yellow-moon": [20, 66, 18]}, {"magenta-star": [35, 32, 18]}, {"teal-moon": [22, 79, 18]}, {"teal-cube": [58, 89, 17]}, {"maroon-container": [15, 43, 18]}] | Pick up the maroon cylinder and place it into the maroon container | [
[
85,
46,
30,
0,
60,
90,
1
],
[
85,
46,
17,
0,
60,
90,
1
],
[
85,
46,
17,
0,
60,
90,
0
],
[
85,
46,
30,
0,
60,
90,
0
],
[
15,
43,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|teal|><|cube|>": ["<|5-12|>", 17]}] | [{"<|white|><|triangular prism|>": ["<|5-3|>", 17]}] | LOCATE OBJECTS:
Target Object: <|teal|><|cube|> found at <|5-12|> with height 17
Target Placement Location: <|white|><|triangular prism|> at <|5-3|> with height 17
PLAN ACTIONS:
Step 1: Move above <|teal|><|cube|> at <|5-12|> with height 30
Step 2: Lower to <|teal|><|cube|> at <|5-12|> with height 17
Step 3: Close grip... | [{"white-triangular prism": [14, 22, 17]}, {"gray-triangular prism": [90, 48, 18]}, {"rose-star": [73, 47, 18]}, {"gray-moon": [44, 27, 17]}, {"maroon-cylinder": [33, 50, 17]}, {"black-star": [62, 90, 18]}, {"teal-cube": [49, 20, 17]}] | Stack the teal cube on top of the white triangular prism | [
[
49,
20,
30,
0,
60,
90,
1
],
[
49,
20,
17,
0,
60,
90,
1
],
[
49,
20,
17,
0,
60,
90,
0
],
[
49,
20,
30,
0,
60,
90,
0
],
[
14,
22,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|navy|><|star|>": ["<|18-8|>", 17]}] | [{"<|blue|><|triangular prism|>": ["<|6-15|>", 19]}] | LOCATE OBJECTS:
Target Object: <|navy|><|star|> found at <|18-8|> with height 17
Target Placement Location: <|blue|><|triangular prism|> at <|6-15|> with height 19
PLAN ACTIONS:
Step 1: Move above <|navy|><|star|> at <|18-8|> with height 30
Step 2: Lower to <|navy|><|star|> at <|18-8|> with height 17
Step 3: Close grip... | [{"navy-star": [34, 73, 17]}, {"blue-star": [60, 69, 18]}, {"blue-cube": [86, 54, 18]}, {"gray-cube": [63, 58, 18]}, {"gray-triangular prism": [24, 73, 17]}, {"silver-cylinder": [55, 32, 18]}, {"blue-triangular prism": [62, 26, 19]}] | Stack the navy star on top of the blue triangular prism | [
[
34,
73,
30,
0,
60,
90,
1
],
[
34,
73,
17,
0,
60,
90,
1
],
[
34,
73,
17,
0,
60,
90,
0
],
[
34,
73,
30,
0,
60,
90,
0
],
[
62,
26,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|green|><|cube|>": ["<|15-9|>", 17]}] | [{"<|green|><|container|>": ["<|12-19|>", 19]}] | LOCATE OBJECTS:
Target Object: <|green|><|cube|> found at <|15-9|> with height 17
Target Placement Location: <|green|><|container|> at <|12-19|> with height 19
PLAN ACTIONS:
Step 1: Move above <|green|><|cube|> at <|15-9|> with height 30
Step 2: Lower to <|green|><|cube|> at <|15-9|> with height 17
Step 3: Close grippe... | [{"purple-cube": [67, 70, 18]}, {"green-cube": [38, 62, 17]}, {"red-cube": [83, 30, 17]}, {"green-container": [76, 49, 19]}, {"black-star": [29, 68, 18]}] | Pick up the green cube and place it into the green container | [
[
38,
62,
30,
0,
60,
90,
1
],
[
38,
62,
17,
0,
60,
90,
1
],
[
38,
62,
17,
0,
60,
90,
0
],
[
38,
62,
30,
0,
60,
90,
0
],
[
76,
49,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|cyan|><|moon|>": ["<|6-19|>", 17]}] | [{"<|blue|><|cylinder|>": ["<|21-5|>", 17]}] | LOCATE OBJECTS:
Target Object: <|cyan|><|moon|> found at <|6-19|> with height 17
Target Placement Location: <|blue|><|cylinder|> at <|21-5|> with height 17
PLAN ACTIONS:
Step 1: Move above <|cyan|><|moon|> at <|6-19|> with height 30
Step 2: Lower to <|cyan|><|moon|> at <|6-19|> with height 17
Step 3: Close gripper on <... | [{"green-cylinder": [21, 39, 17]}, {"magenta-cylinder": [71, 31, 17]}, {"blue-star": [60, 37, 17]}, {"cyan-moon": [79, 27, 17]}, {"blue-cylinder": [20, 85, 17]}] | Stack the cyan moon on top of the blue cylinder | [
[
79,
27,
30,
0,
60,
90,
1
],
[
79,
27,
17,
0,
60,
90,
1
],
[
79,
27,
17,
0,
60,
90,
0
],
[
79,
27,
30,
0,
60,
90,
0
],
[
20,
85,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|teal|><|cylinder|>": ["<|19-20|>", 17]}] | [{"<|white|><|container|>": ["<|13-7|>", 17]}] | LOCATE OBJECTS:
Target Object: <|teal|><|cylinder|> found at <|19-20|> with height 17
Target Placement Location: <|white|><|container|> at <|13-7|> with height 17
PLAN ACTIONS:
Step 1: Move above <|teal|><|cylinder|> at <|19-20|> with height 30
Step 2: Lower to <|teal|><|cylinder|> at <|19-20|> with height 17
Step 3: C... | [{"red-moon": [84, 47, 18]}, {"red-star": [85, 74, 17]}, {"olive-moon": [70, 56, 18]}, {"teal-cylinder": [83, 77, 17]}, {"rose-cylinder": [58, 86, 18]}, {"white-container": [29, 54, 17]}, {"white-star": [50, 22, 17]}] | Pick up the teal cylinder and place it into the white container | [
[
83,
77,
30,
0,
60,
90,
1
],
[
83,
77,
17,
0,
60,
90,
1
],
[
83,
77,
17,
0,
60,
90,
0
],
[
83,
77,
30,
0,
60,
90,
0
],
[
29,
54,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|rose|><|moon|>": ["<|13-13|>", 17]}] | [{"<|green|><|container|>": ["<|16-14|>", 17]}] | LOCATE OBJECTS:
Target Object: <|rose|><|moon|> found at <|13-13|> with height 17
Target Placement Location: <|green|><|container|> at <|16-14|> with height 17
PLAN ACTIONS:
Step 1: Move above <|rose|><|moon|> at <|13-13|> with height 30
Step 2: Lower to <|rose|><|moon|> at <|13-13|> with height 17
Step 3: Close grippe... | [{"rose-moon": [55, 54, 17]}, {"yellow-cylinder": [43, 81, 18]}, {"green-container": [57, 65, 17]}, {"gray-cube": [51, 78, 17]}, {"blue-triangular prism": [85, 73, 17]}] | Pick up the rose moon and place it into the green container | [
[
55,
54,
30,
0,
60,
90,
1
],
[
55,
54,
17,
0,
60,
90,
1
],
[
55,
54,
17,
0,
60,
90,
0
],
[
55,
54,
30,
0,
60,
90,
0
],
[
57,
65,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|red|><|star|>": ["<|22-11|>", 18]}] | [{"<|navy|><|moon|>": ["<|12-14|>", 19]}] | LOCATE OBJECTS:
Target Object: <|red|><|star|> found at <|22-11|> with height 18
Target Placement Location: <|navy|><|moon|> at <|12-14|> with height 19
PLAN ACTIONS:
Step 1: Move above <|red|><|star|> at <|22-11|> with height 30
Step 2: Lower to <|red|><|star|> at <|22-11|> with height 18
Step 3: Close gripper on <|re... | [{"navy-cylinder": [46, 63, 17]}, {"yellow-cylinder": [66, 62, 17]}, {"green-triangular prism": [53, 85, 17]}, {"navy-moon": [57, 48, 19]}, {"red-star": [45, 88, 18]}] | Stack the red star on top of the navy moon | [
[
45,
88,
30,
0,
60,
90,
1
],
[
45,
88,
18,
0,
60,
90,
1
],
[
45,
88,
18,
0,
60,
90,
0
],
[
45,
88,
30,
0,
60,
90,
0
],
[
57,
48,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|lime|><|cylinder|>": ["<|11-9|>", 17]}] | [{"<|maroon|><|container|>": ["<|21-12|>", 19]}] | LOCATE OBJECTS:
Target Object: <|lime|><|cylinder|> found at <|11-9|> with height 17
Target Placement Location: <|maroon|><|container|> at <|21-12|> with height 19
PLAN ACTIONS:
Step 1: Move above <|lime|><|cylinder|> at <|11-9|> with height 30
Step 2: Lower to <|lime|><|cylinder|> at <|11-9|> with height 17
Step 3: Cl... | [{"navy-triangular prism": [28, 45, 18]}, {"navy-moon": [34, 68, 18]}, {"maroon-moon": [38, 89, 17]}, {"maroon-container": [48, 86, 19]}, {"lime-cylinder": [38, 47, 17]}, {"white-star": [21, 53, 17]}, {"azure-cube": [54, 62, 18]}] | Pick up the lime cylinder and place it into the maroon container | [
[
38,
47,
30,
0,
60,
90,
1
],
[
38,
47,
17,
0,
60,
90,
1
],
[
38,
47,
17,
0,
60,
90,
0
],
[
38,
47,
30,
0,
60,
90,
0
],
[
48,
86,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|silver|><|cylinder|>": ["<|8-11|>", 18]}] | [{"<|black|><|container|>": ["<|16-16|>", 17]}] | LOCATE OBJECTS:
Target Object: <|silver|><|cylinder|> found at <|8-11|> with height 18
Target Placement Location: <|black|><|container|> at <|16-16|> with height 17
PLAN ACTIONS:
Step 1: Move above <|silver|><|cylinder|> at <|8-11|> with height 30
Step 2: Lower to <|silver|><|cylinder|> at <|8-11|> with height 18
Step ... | [{"silver-cylinder": [44, 35, 18]}, {"magenta-cube": [60, 25, 18]}, {"black-container": [64, 66, 17]}, {"navy-star": [25, 76, 18]}, {"azure-cylinder": [67, 50, 18]}, {"olive-star": [47, 89, 18]}] | Pick up the silver cylinder and place it into the black container | [
[
44,
35,
30,
0,
60,
90,
1
],
[
44,
35,
18,
0,
60,
90,
1
],
[
44,
35,
18,
0,
60,
90,
0
],
[
44,
35,
30,
0,
60,
90,
0
],
[
64,
66,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|navy|><|triangular prism|>": ["<|15-21|>", 17]}] | [{"<|magenta|><|cylinder|>": ["<|7-7|>", 17]}] | LOCATE OBJECTS:
Target Object: <|navy|><|triangular prism|> found at <|15-21|> with height 17
Target Placement Location: <|magenta|><|cylinder|> at <|7-7|> with height 17
PLAN ACTIONS:
Step 1: Move above <|navy|><|triangular prism|> at <|15-21|> with height 30
Step 2: Lower to <|navy|><|triangular prism|> at <|15-21|> ... | [{"magenta-cylinder": [30, 28, 17]}, {"olive-star": [45, 23, 17]}, {"navy-triangular prism": [86, 62, 17]}, {"red-cylinder": [59, 41, 17]}, {"violet-cylinder": [44, 29, 18]}, {"lime-star": [48, 76, 18]}, {"rose-triangular prism": [24, 28, 18]}] | Stack the navy triangular prism on top of the magenta cylinder | [
[
86,
62,
30,
0,
60,
90,
1
],
[
86,
62,
17,
0,
60,
90,
1
],
[
86,
62,
17,
0,
60,
90,
0
],
[
86,
62,
30,
0,
60,
90,
0
],
[
30,
28,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|yellow|><|triangular prism|>": ["<|5-14|>", 18]}] | [{"<|magenta|><|container|>": ["<|9-19|>", 19]}] | LOCATE OBJECTS:
Target Object: <|yellow|><|triangular prism|> found at <|5-14|> with height 18
Target Placement Location: <|magenta|><|container|> at <|9-19|> with height 19
PLAN ACTIONS:
Step 1: Move above <|yellow|><|triangular prism|> at <|5-14|> with height 30
Step 2: Lower to <|yellow|><|triangular prism|> at <|5-... | [{"yellow-triangular prism": [59, 22, 18]}, {"magenta-cylinder": [64, 40, 18]}, {"magenta-container": [78, 36, 19]}, {"olive-cylinder": [40, 90, 18]}, {"teal-triangular prism": [89, 66, 18]}, {"maroon-moon": [56, 45, 18]}, {"silver-cube": [87, 70, 18]}] | Pick up the yellow triangular prism and place it into the magenta container | [
[
59,
22,
30,
0,
60,
90,
1
],
[
59,
22,
18,
0,
60,
90,
1
],
[
59,
22,
18,
0,
60,
90,
0
],
[
59,
22,
30,
0,
60,
90,
0
],
[
78,
36,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|azure|><|triangular prism|>": ["<|16-19|>", 18]}] | [{"<|maroon|><|container|>": ["<|14-20|>", 18]}] | LOCATE OBJECTS:
Target Object: <|azure|><|triangular prism|> found at <|16-19|> with height 18
Target Placement Location: <|maroon|><|container|> at <|14-20|> with height 18
PLAN ACTIONS:
Step 1: Move above <|azure|><|triangular prism|> at <|16-19|> with height 30
Step 2: Lower to <|azure|><|triangular prism|> at <|16-... | [{"yellow-cylinder": [80, 63, 18]}, {"blue-moon": [57, 72, 18]}, {"maroon-container": [82, 58, 18]}, {"violet-triangular prism": [34, 75, 17]}, {"azure-triangular prism": [77, 66, 18]}] | Pick up the azure triangular prism and place it into the maroon container | [
[
77,
66,
30,
0,
60,
90,
1
],
[
77,
66,
18,
0,
60,
90,
1
],
[
77,
66,
18,
0,
60,
90,
0
],
[
77,
66,
30,
0,
60,
90,
0
],
[
82,
58,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|yellow|><|cylinder|>": ["<|5-7|>", 18]}] | [{"<|purple|><|cylinder|>": ["<|22-4|>", 17]}] | LOCATE OBJECTS:
Target Object: <|yellow|><|cylinder|> found at <|5-7|> with height 18
Target Placement Location: <|purple|><|cylinder|> at <|22-4|> with height 17
PLAN ACTIONS:
Step 1: Move above <|yellow|><|cylinder|> at <|5-7|> with height 30
Step 2: Lower to <|yellow|><|cylinder|> at <|5-7|> with height 18
Step 3: C... | [{"silver-cylinder": [85, 31, 18]}, {"maroon-cube": [89, 69, 17]}, {"purple-cylinder": [18, 90, 17]}, {"yellow-cylinder": [29, 21, 18]}, {"rose-cube": [41, 38, 17]}, {"magenta-triangular prism": [49, 36, 18]}] | Stack the yellow cylinder on top of the purple cylinder | [
[
29,
21,
30,
0,
60,
90,
1
],
[
29,
21,
18,
0,
60,
90,
1
],
[
29,
21,
18,
0,
60,
90,
0
],
[
29,
21,
30,
0,
60,
90,
0
],
[
18,
90,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|white|><|star|>": ["<|16-20|>", 18]}] | [{"<|violet|><|moon|>": ["<|22-10|>", 19]}] | LOCATE OBJECTS:
Target Object: <|white|><|star|> found at <|16-20|> with height 18
Target Placement Location: <|violet|><|moon|> at <|22-10|> with height 19
PLAN ACTIONS:
Step 1: Move above <|white|><|star|> at <|16-20|> with height 30
Step 2: Lower to <|white|><|star|> at <|16-20|> with height 18
Step 3: Close gripper... | [{"white-star": [80, 64, 18]}, {"olive-moon": [24, 22, 17]}, {"teal-cube": [55, 44, 17]}, {"white-cube": [85, 88, 17]}, {"violet-moon": [42, 90, 19]}, {"gray-moon": [32, 63, 18]}] | Stack the white star on top of the violet moon | [
[
80,
64,
30,
0,
60,
90,
1
],
[
80,
64,
18,
0,
60,
90,
1
],
[
80,
64,
18,
0,
60,
90,
0
],
[
80,
64,
30,
0,
60,
90,
0
],
[
42,
90,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|violet|><|moon|>": ["<|6-21|>", 18]}] | [{"<|violet|><|container|>": ["<|11-21|>", 19]}] | LOCATE OBJECTS:
Target Object: <|violet|><|moon|> found at <|6-21|> with height 18
Target Placement Location: <|violet|><|container|> at <|11-21|> with height 19
PLAN ACTIONS:
Step 1: Move above <|violet|><|moon|> at <|6-21|> with height 30
Step 2: Lower to <|violet|><|moon|> at <|6-21|> with height 18
Step 3: Close gr... | [{"azure-star": [32, 48, 18]}, {"purple-cube": [47, 30, 18]}, {"violet-container": [85, 47, 19]}, {"violet-moon": [86, 25, 18]}, {"gray-triangular prism": [21, 80, 17]}] | Pick up the violet moon and place it into the violet container | [
[
86,
25,
30,
0,
60,
90,
1
],
[
86,
25,
18,
0,
60,
90,
1
],
[
86,
25,
18,
0,
60,
90,
0
],
[
86,
25,
30,
0,
60,
90,
0
],
[
85,
47,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|white|><|triangular prism|>": ["<|13-19|>", 17]}] | [{"<|red|><|triangular prism|>": ["<|9-17|>", 17]}] | LOCATE OBJECTS:
Target Object: <|white|><|triangular prism|> found at <|13-19|> with height 17
Target Placement Location: <|red|><|triangular prism|> at <|9-17|> with height 17
PLAN ACTIONS:
Step 1: Move above <|white|><|triangular prism|> at <|13-19|> with height 30
Step 2: Lower to <|white|><|triangular prism|> at <|... | [{"maroon-moon": [53, 27, 17]}, {"cyan-triangular prism": [50, 65, 17]}, {"white-triangular prism": [77, 54, 17]}, {"navy-star": [24, 68, 17]}, {"red-triangular prism": [71, 38, 17]}, {"violet-cube": [88, 45, 17]}] | Stack the white triangular prism on top of the red triangular prism | [
[
77,
54,
30,
0,
60,
90,
1
],
[
77,
54,
17,
0,
60,
90,
1
],
[
77,
54,
17,
0,
60,
90,
0
],
[
77,
54,
30,
0,
60,
90,
0
],
[
71,
38,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|silver|><|moon|>": ["<|10-20|>", 17]}] | [{"<|teal|><|container|>": ["<|6-12|>", 19]}] | LOCATE OBJECTS:
Target Object: <|silver|><|moon|> found at <|10-20|> with height 17
Target Placement Location: <|teal|><|container|> at <|6-12|> with height 19
PLAN ACTIONS:
Step 1: Move above <|silver|><|moon|> at <|10-20|> with height 30
Step 2: Lower to <|silver|><|moon|> at <|10-20|> with height 17
Step 3: Close gr... | [{"violet-cube": [66, 32, 17]}, {"black-cylinder": [59, 39, 18]}, {"black-triangular prism": [26, 77, 17]}, {"teal-container": [51, 24, 19]}, {"silver-moon": [80, 41, 17]}] | Pick up the silver moon and place it into the teal container | [
[
80,
41,
30,
0,
60,
90,
1
],
[
80,
41,
17,
0,
60,
90,
1
],
[
80,
41,
17,
0,
60,
90,
0
],
[
80,
41,
30,
0,
60,
90,
0
],
[
51,
24,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|yellow|><|cube|>": ["<|22-9|>", 18]}] | [{"<|red|><|star|>": ["<|21-2|>", 18]}] | LOCATE OBJECTS:
Target Object: <|yellow|><|cube|> found at <|22-9|> with height 18
Target Placement Location: <|red|><|star|> at <|21-2|> with height 18
PLAN ACTIONS:
Step 1: Move above <|yellow|><|cube|> at <|22-9|> with height 30
Step 2: Lower to <|yellow|><|cube|> at <|22-9|> with height 18
Step 3: Close gripper on ... | [{"blue-cube": [58, 40, 17]}, {"purple-cylinder": [78, 34, 18]}, {"violet-moon": [51, 60, 18]}, {"red-star": [10, 87, 18]}, {"yellow-cube": [38, 88, 18]}, {"green-moon": [63, 84, 17]}] | Stack the yellow cube on top of the red star | [
[
38,
88,
30,
0,
60,
90,
1
],
[
38,
88,
18,
0,
60,
90,
1
],
[
38,
88,
18,
0,
60,
90,
0
],
[
38,
88,
30,
0,
60,
90,
0
],
[
10,
87,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|violet|><|cube|>": ["<|21-11|>", 17]}] | [{"<|navy|><|cylinder|>": ["<|6-6|>", 17]}] | LOCATE OBJECTS:
Target Object: <|violet|><|cube|> found at <|21-11|> with height 17
Target Placement Location: <|navy|><|cylinder|> at <|6-6|> with height 17
PLAN ACTIONS:
Step 1: Move above <|violet|><|cube|> at <|21-11|> with height 30
Step 2: Lower to <|violet|><|cube|> at <|21-11|> with height 17
Step 3: Close grip... | [{"green-triangular prism": [35, 80, 17]}, {"red-cube": [50, 25, 17]}, {"violet-cube": [45, 84, 17]}, {"navy-cylinder": [24, 24, 17]}, {"blue-triangular prism": [65, 23, 17]}, {"teal-star": [38, 44, 17]}] | Stack the violet cube on top of the navy cylinder | [
[
45,
84,
30,
0,
60,
90,
1
],
[
45,
84,
17,
0,
60,
90,
1
],
[
45,
84,
17,
0,
60,
90,
0
],
[
45,
84,
30,
0,
60,
90,
0
],
[
24,
24,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|silver|><|cube|>": ["<|5-7|>", 17]}] | [{"<|cyan|><|container|>": ["<|4-7|>", 19]}] | LOCATE OBJECTS:
Target Object: <|silver|><|cube|> found at <|5-7|> with height 17
Target Placement Location: <|cyan|><|container|> at <|4-7|> with height 19
PLAN ACTIONS:
Step 1: Move above <|silver|><|cube|> at <|5-7|> with height 30
Step 2: Lower to <|silver|><|cube|> at <|5-7|> with height 17
Step 3: Close gripper o... | [{"cyan-container": [31, 16, 19]}, {"violet-cube": [71, 55, 17]}, {"olive-star": [81, 60, 18]}, {"gray-cylinder": [48, 82, 18]}, {"silver-cube": [28, 23, 17]}] | Pick up the silver cube and place it into the cyan container | [
[
28,
23,
30,
0,
60,
90,
1
],
[
28,
23,
17,
0,
60,
90,
1
],
[
28,
23,
17,
0,
60,
90,
0
],
[
28,
23,
30,
0,
60,
90,
0
],
[
31,
16,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|silver|><|triangular prism|>": ["<|21-6|>", 17]}] | [{"<|white|><|triangular prism|>": ["<|7-22|>", 19]}] | LOCATE OBJECTS:
Target Object: <|silver|><|triangular prism|> found at <|21-6|> with height 17
Target Placement Location: <|white|><|triangular prism|> at <|7-22|> with height 19
PLAN ACTIONS:
Step 1: Move above <|silver|><|triangular prism|> at <|21-6|> with height 30
Step 2: Lower to <|silver|><|triangular prism|> at... | [{"lime-star": [64, 89, 18]}, {"silver-triangular prism": [26, 85, 17]}, {"yellow-cylinder": [65, 85, 17]}, {"maroon-star": [77, 87, 18]}, {"white-cylinder": [59, 46, 18]}, {"white-triangular prism": [90, 30, 19]}] | Stack the silver triangular prism on top of the white triangular prism | [
[
26,
85,
30,
0,
60,
90,
1
],
[
26,
85,
17,
0,
60,
90,
1
],
[
26,
85,
17,
0,
60,
90,
0
],
[
26,
85,
30,
0,
60,
90,
0
],
[
90,
30,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|rose|><|triangular prism|>": ["<|14-9|>", 18]}] | [{"<|violet|><|triangular prism|>": ["<|16-7|>", 17]}] | LOCATE OBJECTS:
Target Object: <|rose|><|triangular prism|> found at <|14-9|> with height 18
Target Placement Location: <|violet|><|triangular prism|> at <|16-7|> with height 17
PLAN ACTIONS:
Step 1: Move above <|rose|><|triangular prism|> at <|14-9|> with height 30
Step 2: Lower to <|rose|><|triangular prism|> at <|14... | [{"white-moon": [85, 53, 18]}, {"navy-star": [22, 42, 18]}, {"violet-triangular prism": [30, 65, 17]}, {"black-cylinder": [46, 43, 17]}, {"rose-triangular prism": [39, 56, 18]}, {"black-triangular prism": [71, 55, 17]}] | Stack the rose triangular prism on top of the violet triangular prism | [
[
39,
56,
30,
0,
60,
90,
1
],
[
39,
56,
18,
0,
60,
90,
1
],
[
39,
56,
18,
0,
60,
90,
0
],
[
39,
56,
30,
0,
60,
90,
0
],
[
30,
65,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|green|><|cube|>": ["<|15-9|>", 18]}] | [{"<|lime|><|container|>": ["<|9-20|>", 18]}] | LOCATE OBJECTS:
Target Object: <|green|><|cube|> found at <|15-9|> with height 18
Target Placement Location: <|lime|><|container|> at <|9-20|> with height 18
PLAN ACTIONS:
Step 1: Move above <|green|><|cube|> at <|15-9|> with height 30
Step 2: Lower to <|green|><|cube|> at <|15-9|> with height 18
Step 3: Close gripper ... | [{"lime-container": [80, 36, 18]}, {"teal-triangular prism": [53, 87, 17]}, {"lime-triangular prism": [47, 71, 17]}, {"teal-star": [69, 25, 18]}, {"green-cube": [36, 60, 18]}, {"navy-moon": [26, 75, 18]}, {"olive-star": [36, 43, 18]}] | Pick up the green cube and place it into the lime container | [
[
36,
60,
30,
0,
60,
90,
1
],
[
36,
60,
18,
0,
60,
90,
1
],
[
36,
60,
18,
0,
60,
90,
0
],
[
36,
60,
30,
0,
60,
90,
0
],
[
80,
36,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|white|><|cube|>": ["<|21-19|>", 17]}] | [{"<|blue|><|container|>": ["<|20-11|>", 19]}] | LOCATE OBJECTS:
Target Object: <|white|><|cube|> found at <|21-19|> with height 17
Target Placement Location: <|blue|><|container|> at <|20-11|> with height 19
PLAN ACTIONS:
Step 1: Move above <|white|><|cube|> at <|21-19|> with height 30
Step 2: Lower to <|white|><|cube|> at <|21-19|> with height 17
Step 3: Close grip... | [{"blue-container": [47, 80, 19]}, {"silver-star": [67, 64, 18]}, {"black-cylinder": [78, 27, 18]}, {"white-cube": [78, 85, 17]}, {"rose-moon": [72, 85, 18]}] | Pick up the white cube and place it into the blue container | [
[
78,
85,
30,
0,
60,
90,
1
],
[
78,
85,
17,
0,
60,
90,
1
],
[
78,
85,
17,
0,
60,
90,
0
],
[
78,
85,
30,
0,
60,
90,
0
],
[
47,
80,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|green|><|triangular prism|>": ["<|9-19|>", 17]}] | [{"<|olive|><|moon|>": ["<|21-7|>", 17]}] | LOCATE OBJECTS:
Target Object: <|green|><|triangular prism|> found at <|9-19|> with height 17
Target Placement Location: <|olive|><|moon|> at <|21-7|> with height 17
PLAN ACTIONS:
Step 1: Move above <|green|><|triangular prism|> at <|9-19|> with height 30
Step 2: Lower to <|green|><|triangular prism|> at <|9-19|> with ... | [{"green-cylinder": [22, 46, 17]}, {"violet-cube": [37, 49, 18]}, {"olive-moon": [28, 84, 17]}, {"green-triangular prism": [79, 38, 17]}, {"white-star": [32, 35, 17]}] | Stack the green triangular prism on top of the olive moon | [
[
79,
38,
30,
0,
60,
90,
1
],
[
79,
38,
17,
0,
60,
90,
1
],
[
79,
38,
17,
0,
60,
90,
0
],
[
79,
38,
30,
0,
60,
90,
0
],
[
28,
84,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|blue|><|star|>": ["<|20-6|>", 18]}] | [{"<|purple|><|cylinder|>": ["<|3-3|>", 18]}] | LOCATE OBJECTS:
Target Object: <|blue|><|star|> found at <|20-6|> with height 18
Target Placement Location: <|purple|><|cylinder|> at <|3-3|> with height 18
PLAN ACTIONS:
Step 1: Move above <|blue|><|star|> at <|20-6|> with height 30
Step 2: Lower to <|blue|><|star|> at <|20-6|> with height 18
Step 3: Close gripper on ... | [{"violet-moon": [71, 54, 18]}, {"navy-cylinder": [60, 90, 17]}, {"blue-star": [24, 80, 18]}, {"violet-cube": [29, 66, 18]}, {"rose-cylinder": [51, 74, 18]}, {"purple-cylinder": [13, 14, 18]}, {"purple-moon": [37, 25, 18]}] | Stack the blue star on top of the purple cylinder | [
[
24,
80,
30,
0,
60,
90,
1
],
[
24,
80,
18,
0,
60,
90,
1
],
[
24,
80,
18,
0,
60,
90,
0
],
[
24,
80,
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 25x25 discrete grid for visualization\n- ... |
[{"<|azure|><|cube|>": ["<|22-10|>", 17]}] | [{"<|magenta|><|container|>": ["<|20-14|>", 18]}] | LOCATE OBJECTS:
Target Object: <|azure|><|cube|> found at <|22-10|> with height 17
Target Placement Location: <|magenta|><|container|> at <|20-14|> with height 18
PLAN ACTIONS:
Step 1: Move above <|azure|><|cube|> at <|22-10|> with height 30
Step 2: Lower to <|azure|><|cube|> at <|22-10|> with height 17
Step 3: Close g... | [{"magenta-container": [56, 82, 18]}, {"azure-cube": [40, 89, 17]}, {"red-triangular prism": [35, 54, 18]}, {"white-cylinder": [84, 37, 17]}, {"yellow-cylinder": [47, 50, 17]}] | Pick up the azure cube and place it into the magenta container | [
[
40,
89,
30,
0,
60,
90,
1
],
[
40,
89,
17,
0,
60,
90,
1
],
[
40,
89,
17,
0,
60,
90,
0
],
[
40,
89,
30,
0,
60,
90,
0
],
[
56,
82,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|red|><|triangular prism|>": ["<|10-10|>", 17]}] | [{"<|black|><|triangular prism|>": ["<|3-7|>", 18]}] | LOCATE OBJECTS:
Target Object: <|red|><|triangular prism|> found at <|10-10|> with height 17
Target Placement Location: <|black|><|triangular prism|> at <|3-7|> with height 18
PLAN ACTIONS:
Step 1: Move above <|red|><|triangular prism|> at <|10-10|> with height 30
Step 2: Lower to <|red|><|triangular prism|> at <|10-10... | [{"red-triangular prism": [43, 43, 17]}, {"black-triangular prism": [29, 13, 18]}, {"teal-moon": [68, 74, 17]}, {"teal-cylinder": [26, 65, 18]}, {"maroon-cylinder": [39, 26, 18]}, {"gray-cube": [75, 30, 17]}, {"red-star": [85, 29, 17]}] | Stack the red triangular prism on top of the black triangular prism | [
[
43,
43,
30,
0,
60,
90,
1
],
[
43,
43,
17,
0,
60,
90,
1
],
[
43,
43,
17,
0,
60,
90,
0
],
[
43,
43,
30,
0,
60,
90,
0
],
[
29,
13,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|magenta|><|cylinder|>": ["<|7-18|>", 17]}] | [{"<|teal|><|container|>": ["<|15-8|>", 18]}] | LOCATE OBJECTS:
Target Object: <|magenta|><|cylinder|> found at <|7-18|> with height 17
Target Placement Location: <|teal|><|container|> at <|15-8|> with height 18
PLAN ACTIONS:
Step 1: Move above <|magenta|><|cylinder|> at <|7-18|> with height 30
Step 2: Lower to <|magenta|><|cylinder|> at <|7-18|> with height 17
Step... | [{"teal-cylinder": [84, 23, 17]}, {"teal-container": [33, 61, 18]}, {"blue-star": [52, 48, 17]}, {"teal-triangular prism": [84, 40, 18]}, {"silver-moon": [59, 27, 17]}, {"magenta-cylinder": [72, 28, 17]}] | Pick up the magenta cylinder and place it into the teal container | [
[
72,
28,
30,
0,
60,
90,
1
],
[
72,
28,
17,
0,
60,
90,
1
],
[
72,
28,
17,
0,
60,
90,
0
],
[
72,
28,
30,
0,
60,
90,
0
],
[
33,
61,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|cyan|><|moon|>": ["<|12-19|>", 17]}] | [{"<|yellow|><|container|>": ["<|14-13|>", 17]}] | LOCATE OBJECTS:
Target Object: <|cyan|><|moon|> found at <|12-19|> with height 17
Target Placement Location: <|yellow|><|container|> at <|14-13|> with height 17
PLAN ACTIONS:
Step 1: Move above <|cyan|><|moon|> at <|12-19|> with height 30
Step 2: Lower to <|cyan|><|moon|> at <|12-19|> with height 17
Step 3: Close gripp... | [{"maroon-triangular prism": [30, 39, 18]}, {"olive-cube": [76, 74, 18]}, {"yellow-container": [53, 58, 17]}, {"magenta-cube": [57, 46, 17]}, {"silver-star": [40, 26, 18]}, {"cyan-moon": [78, 48, 17]}, {"black-triangular prism": [63, 75, 17]}] | Pick up the cyan moon and place it into the yellow container | [
[
78,
48,
30,
0,
60,
90,
1
],
[
78,
48,
17,
0,
60,
90,
1
],
[
78,
48,
17,
0,
60,
90,
0
],
[
78,
48,
30,
0,
60,
90,
0
],
[
53,
58,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|green|><|cylinder|>": ["<|17-8|>", 17]}] | [{"<|white|><|moon|>": ["<|14-6|>", 18]}] | LOCATE OBJECTS:
Target Object: <|green|><|cylinder|> found at <|17-8|> with height 17
Target Placement Location: <|white|><|moon|> at <|14-6|> with height 18
PLAN ACTIONS:
Step 1: Move above <|green|><|cylinder|> at <|17-8|> with height 30
Step 2: Lower to <|green|><|cylinder|> at <|17-8|> with height 17
Step 3: Close ... | [{"white-cube": [32, 53, 18]}, {"maroon-moon": [40, 89, 18]}, {"white-moon": [25, 58, 18]}, {"green-cylinder": [35, 70, 17]}, {"olive-star": [33, 47, 18]}, {"blue-cube": [54, 46, 18]}] | Stack the green cylinder on top of the white moon | [
[
35,
70,
30,
0,
60,
90,
1
],
[
35,
70,
17,
0,
60,
90,
1
],
[
35,
70,
17,
0,
60,
90,
0
],
[
35,
70,
30,
0,
60,
90,
0
],
[
25,
58,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|green|><|moon|>": ["<|22-19|>", 17]}] | [{"<|purple|><|container|>": ["<|13-21|>", 17]}] | LOCATE OBJECTS:
Target Object: <|green|><|moon|> found at <|22-19|> with height 17
Target Placement Location: <|purple|><|container|> at <|13-21|> with height 17
PLAN ACTIONS:
Step 1: Move above <|green|><|moon|> at <|22-19|> with height 30
Step 2: Lower to <|green|><|moon|> at <|22-19|> with height 17
Step 3: Close gr... | [{"green-moon": [79, 88, 17]}, {"black-cube": [71, 77, 17]}, {"blue-cylinder": [34, 32, 17]}, {"black-cylinder": [42, 26, 17]}, {"gray-triangular prism": [57, 42, 17]}, {"purple-container": [87, 54, 17]}] | Pick up the green moon and place it into the purple container | [
[
79,
88,
30,
0,
60,
90,
1
],
[
79,
88,
17,
0,
60,
90,
1
],
[
79,
88,
17,
0,
60,
90,
0
],
[
79,
88,
30,
0,
60,
90,
0
],
[
87,
54,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|red|><|star|>": ["<|20-21|>", 18]}] | [{"<|magenta|><|triangular prism|>": ["<|13-13|>", 18]}] | LOCATE OBJECTS:
Target Object: <|red|><|star|> found at <|20-21|> with height 18
Target Placement Location: <|magenta|><|triangular prism|> at <|13-13|> with height 18
PLAN ACTIONS:
Step 1: Move above <|red|><|star|> at <|20-21|> with height 30
Step 2: Lower to <|red|><|star|> at <|20-21|> with height 18
Step 3: Close ... | [{"magenta-triangular prism": [54, 54, 18]}, {"red-cube": [20, 32, 18]}, {"yellow-moon": [71, 61, 17]}, {"red-star": [86, 82, 18]}, {"teal-cube": [59, 85, 17]}, {"violet-cube": [43, 51, 17]}, {"olive-star": [86, 55, 17]}] | Stack the red star on top of the magenta triangular prism | [
[
86,
82,
30,
0,
60,
90,
1
],
[
86,
82,
18,
0,
60,
90,
1
],
[
86,
82,
18,
0,
60,
90,
0
],
[
86,
82,
30,
0,
60,
90,
0
],
[
54,
54,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|red|><|cylinder|>": ["<|16-22|>", 17]}] | [{"<|gray|><|container|>": ["<|5-4|>", 17]}] | LOCATE OBJECTS:
Target Object: <|red|><|cylinder|> found at <|16-22|> with height 17
Target Placement Location: <|gray|><|container|> at <|5-4|> with height 17
PLAN ACTIONS:
Step 1: Move above <|red|><|cylinder|> at <|16-22|> with height 30
Step 2: Lower to <|red|><|cylinder|> at <|16-22|> with height 17
Step 3: Close ... | [{"navy-moon": [81, 70, 18]}, {"red-star": [41, 59, 18]}, {"gray-container": [16, 22, 17]}, {"violet-star": [76, 85, 17]}, {"red-cylinder": [88, 65, 17]}, {"green-triangular prism": [71, 74, 18]}] | Pick up the red cylinder and place it into the gray container | [
[
88,
65,
30,
0,
60,
90,
1
],
[
88,
65,
17,
0,
60,
90,
1
],
[
88,
65,
17,
0,
60,
90,
0
],
[
88,
65,
30,
0,
60,
90,
0
],
[
16,
22,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|red|><|triangular prism|>": ["<|8-17|>", 17]}] | [{"<|magenta|><|container|>": ["<|20-19|>", 17]}] | LOCATE OBJECTS:
Target Object: <|red|><|triangular prism|> found at <|8-17|> with height 17
Target Placement Location: <|magenta|><|container|> at <|20-19|> with height 17
PLAN ACTIONS:
Step 1: Move above <|red|><|triangular prism|> at <|8-17|> with height 30
Step 2: Lower to <|red|><|triangular prism|> at <|8-17|> wit... | [{"yellow-cube": [57, 56, 18]}, {"olive-cube": [55, 58, 17]}, {"green-triangular prism": [33, 58, 17]}, {"blue-triangular prism": [52, 51, 18]}, {"magenta-container": [77, 81, 17]}, {"red-triangular prism": [70, 32, 17]}] | Pick up the red triangular prism and place it into the magenta container | [
[
70,
32,
30,
0,
60,
90,
1
],
[
70,
32,
17,
0,
60,
90,
1
],
[
70,
32,
17,
0,
60,
90,
0
],
[
70,
32,
30,
0,
60,
90,
0
],
[
77,
81,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|lime|><|cube|>": ["<|9-13|>", 18]}] | [{"<|white|><|cylinder|>": ["<|6-16|>", 18]}] | LOCATE OBJECTS:
Target Object: <|lime|><|cube|> found at <|9-13|> with height 18
Target Placement Location: <|white|><|cylinder|> at <|6-16|> with height 18
PLAN ACTIONS:
Step 1: Move above <|lime|><|cube|> at <|9-13|> with height 30
Step 2: Lower to <|lime|><|cube|> at <|9-13|> with height 18
Step 3: Close gripper on ... | [{"purple-cube": [82, 71, 17]}, {"navy-star": [20, 87, 17]}, {"rose-triangular prism": [65, 51, 18]}, {"magenta-star": [57, 35, 18]}, {"azure-cylinder": [56, 58, 18]}, {"lime-cube": [53, 38, 18]}, {"white-cylinder": [67, 24, 18]}] | Stack the lime cube on top of the white cylinder | [
[
53,
38,
30,
0,
60,
90,
1
],
[
53,
38,
18,
0,
60,
90,
1
],
[
53,
38,
18,
0,
60,
90,
0
],
[
53,
38,
30,
0,
60,
90,
0
],
[
67,
24,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|navy|><|cube|>": ["<|13-21|>", 18]}] | [{"<|green|><|container|>": ["<|12-10|>", 19]}] | LOCATE OBJECTS:
Target Object: <|navy|><|cube|> found at <|13-21|> with height 18
Target Placement Location: <|green|><|container|> at <|12-10|> with height 19
PLAN ACTIONS:
Step 1: Move above <|navy|><|cube|> at <|13-21|> with height 30
Step 2: Lower to <|navy|><|cube|> at <|13-21|> with height 18
Step 3: Close grippe... | [{"green-container": [41, 49, 19]}, {"white-cylinder": [58, 29, 18]}, {"red-moon": [28, 39, 18]}, {"navy-cube": [85, 55, 18]}, {"magenta-star": [78, 83, 18]}] | Pick up the navy cube and place it into the green container | [
[
85,
55,
30,
0,
60,
90,
1
],
[
85,
55,
18,
0,
60,
90,
1
],
[
85,
55,
18,
0,
60,
90,
0
],
[
85,
55,
30,
0,
60,
90,
0
],
[
41,
49,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|olive|><|cylinder|>": ["<|13-13|>", 17]}] | [{"<|teal|><|cube|>": ["<|7-10|>", 17]}] | LOCATE OBJECTS:
Target Object: <|olive|><|cylinder|> found at <|13-13|> with height 17
Target Placement Location: <|teal|><|cube|> at <|7-10|> with height 17
PLAN ACTIONS:
Step 1: Move above <|olive|><|cylinder|> at <|13-13|> with height 30
Step 2: Lower to <|olive|><|cylinder|> at <|13-13|> with height 17
Step 3: Clos... | [{"olive-cylinder": [54, 52, 17]}, {"teal-cube": [42, 31, 17]}, {"white-cylinder": [72, 64, 17]}, {"lime-cube": [33, 29, 17]}, {"azure-cylinder": [69, 75, 18]}] | Stack the olive cylinder on top of the teal cube | [
[
54,
52,
30,
0,
60,
90,
1
],
[
54,
52,
17,
0,
60,
90,
1
],
[
54,
52,
17,
0,
60,
90,
0
],
[
54,
52,
30,
0,
60,
90,
0
],
[
42,
31,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|azure|><|cylinder|>": ["<|18-13|>", 18]}] | [{"<|azure|><|cube|>": ["<|18-21|>", 17]}] | LOCATE OBJECTS:
Target Object: <|azure|><|cylinder|> found at <|18-13|> with height 18
Target Placement Location: <|azure|><|cube|> at <|18-21|> with height 17
PLAN ACTIONS:
Step 1: Move above <|azure|><|cylinder|> at <|18-13|> with height 30
Step 2: Lower to <|azure|><|cylinder|> at <|18-13|> with height 18
Step 3: Cl... | [{"azure-cylinder": [52, 73, 18]}, {"azure-cube": [86, 75, 17]}, {"blue-star": [65, 74, 17]}, {"maroon-triangular prism": [82, 85, 18]}, {"magenta-cube": [75, 29, 17]}] | Stack the azure cylinder on top of the azure cube | [
[
52,
73,
30,
0,
60,
90,
1
],
[
52,
73,
18,
0,
60,
90,
1
],
[
52,
73,
18,
0,
60,
90,
0
],
[
52,
73,
30,
0,
60,
90,
0
],
[
86,
75,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|violet|><|triangular prism|>": ["<|12-13|>", 18]}] | [{"<|rose|><|container|>": ["<|5-7|>", 19]}] | LOCATE OBJECTS:
Target Object: <|violet|><|triangular prism|> found at <|12-13|> with height 18
Target Placement Location: <|rose|><|container|> at <|5-7|> with height 19
PLAN ACTIONS:
Step 1: Move above <|violet|><|triangular prism|> at <|12-13|> with height 30
Step 2: Lower to <|violet|><|triangular prism|> at <|12-1... | [{"gray-triangular prism": [58, 70, 17]}, {"violet-triangular prism": [53, 51, 18]}, {"gray-star": [49, 84, 17]}, {"rose-container": [31, 21, 19]}, {"purple-cube": [64, 31, 17]}, {"maroon-triangular prism": [60, 48, 17]}] | Pick up the violet triangular prism and place it into the rose container | [
[
53,
51,
30,
0,
60,
90,
1
],
[
53,
51,
18,
0,
60,
90,
1
],
[
53,
51,
18,
0,
60,
90,
0
],
[
53,
51,
30,
0,
60,
90,
0
],
[
31,
21,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|yellow|><|star|>": ["<|15-9|>", 18]}] | [{"<|maroon|><|container|>": ["<|13-14|>", 19]}] | LOCATE OBJECTS:
Target Object: <|yellow|><|star|> found at <|15-9|> with height 18
Target Placement Location: <|maroon|><|container|> at <|13-14|> with height 19
PLAN ACTIONS:
Step 1: Move above <|yellow|><|star|> at <|15-9|> with height 30
Step 2: Lower to <|yellow|><|star|> at <|15-9|> with height 18
Step 3: Close gr... | [{"violet-cylinder": [29, 35, 17]}, {"gray-cube": [50, 84, 17]}, {"red-star": [72, 75, 18]}, {"maroon-container": [59, 55, 19]}, {"yellow-star": [38, 62, 18]}] | Pick up the yellow star and place it into the maroon container | [
[
38,
62,
30,
0,
60,
90,
1
],
[
38,
62,
18,
0,
60,
90,
1
],
[
38,
62,
18,
0,
60,
90,
0
],
[
38,
62,
30,
0,
60,
90,
0
],
[
59,
55,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|teal|><|cube|>": ["<|8-12|>", 18]}] | [{"<|azure|><|container|>": ["<|17-5|>", 19]}] | LOCATE OBJECTS:
Target Object: <|teal|><|cube|> found at <|8-12|> with height 18
Target Placement Location: <|azure|><|container|> at <|17-5|> with height 19
PLAN ACTIONS:
Step 1: Move above <|teal|><|cube|> at <|8-12|> with height 30
Step 2: Lower to <|teal|><|cube|> at <|8-12|> with height 18
Step 3: Close gripper on... | [{"olive-star": [43, 62, 18]}, {"silver-moon": [24, 52, 18]}, {"teal-cube": [50, 33, 18]}, {"rose-moon": [57, 73, 18]}, {"azure-container": [20, 69, 19]}, {"white-cube": [39, 49, 17]}] | Pick up the teal cube and place it into the azure container | [
[
50,
33,
30,
0,
60,
90,
1
],
[
50,
33,
18,
0,
60,
90,
1
],
[
50,
33,
18,
0,
60,
90,
0
],
[
50,
33,
30,
0,
60,
90,
0
],
[
20,
69,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|magenta|><|cylinder|>": ["<|22-11|>", 17]}] | [{"<|magenta|><|triangular prism|>": ["<|3-17|>", 18]}] | LOCATE OBJECTS:
Target Object: <|magenta|><|cylinder|> found at <|22-11|> with height 17
Target Placement Location: <|magenta|><|triangular prism|> at <|3-17|> with height 18
PLAN ACTIONS:
Step 1: Move above <|magenta|><|cylinder|> at <|22-11|> with height 30
Step 2: Lower to <|magenta|><|cylinder|> at <|22-11|> with h... | [{"magenta-triangular prism": [71, 13, 18]}, {"olive-triangular prism": [26, 27, 18]}, {"teal-moon": [79, 23, 17]}, {"lime-moon": [81, 69, 17]}, {"green-star": [53, 23, 17]}, {"white-cube": [88, 29, 18]}, {"magenta-cylinder": [46, 89, 17]}] | Stack the magenta cylinder on top of the magenta triangular prism | [
[
46,
89,
30,
0,
60,
90,
1
],
[
46,
89,
17,
0,
60,
90,
1
],
[
46,
89,
17,
0,
60,
90,
0
],
[
46,
89,
30,
0,
60,
90,
0
],
[
71,
13,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|olive|><|cube|>": ["<|16-22|>", 18]}] | [{"<|green|><|triangular prism|>": ["<|19-3|>", 17]}] | LOCATE OBJECTS:
Target Object: <|olive|><|cube|> found at <|16-22|> with height 18
Target Placement Location: <|green|><|triangular prism|> at <|19-3|> with height 17
PLAN ACTIONS:
Step 1: Move above <|olive|><|cube|> at <|16-22|> with height 30
Step 2: Lower to <|olive|><|cube|> at <|16-22|> with height 18
Step 3: Clo... | [{"olive-cube": [89, 67, 18]}, {"blue-moon": [81, 33, 17]}, {"lime-cube": [49, 76, 18]}, {"teal-star": [32, 74, 18]}, {"green-triangular prism": [14, 79, 17]}] | Stack the olive cube on top of the green triangular prism | [
[
89,
67,
30,
0,
60,
90,
1
],
[
89,
67,
18,
0,
60,
90,
1
],
[
89,
67,
18,
0,
60,
90,
0
],
[
89,
67,
30,
0,
60,
90,
0
],
[
14,
79,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|lime|><|cylinder|>": ["<|15-19|>", 18]}] | [{"<|azure|><|cylinder|>": ["<|11-13|>", 18]}] | LOCATE OBJECTS:
Target Object: <|lime|><|cylinder|> found at <|15-19|> with height 18
Target Placement Location: <|azure|><|cylinder|> at <|11-13|> with height 18
PLAN ACTIONS:
Step 1: Move above <|lime|><|cylinder|> at <|15-19|> with height 30
Step 2: Lower to <|lime|><|cylinder|> at <|15-19|> with height 18
Step 3: C... | [{"lime-cylinder": [78, 61, 18]}, {"olive-star": [81, 31, 18]}, {"azure-triangular prism": [32, 28, 17]}, {"cyan-cube": [90, 58, 17]}, {"lime-triangular prism": [33, 82, 18]}, {"azure-cylinder": [55, 44, 18]}, {"white-triangular prism": [33, 35, 18]}] | Stack the lime cylinder on top of the azure cylinder | [
[
78,
61,
30,
0,
60,
90,
1
],
[
78,
61,
18,
0,
60,
90,
1
],
[
78,
61,
18,
0,
60,
90,
0
],
[
78,
61,
30,
0,
60,
90,
0
],
[
55,
44,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|violet|><|moon|>": ["<|20-15|>", 17]}] | [{"<|red|><|container|>": ["<|14-13|>", 18]}] | LOCATE OBJECTS:
Target Object: <|violet|><|moon|> found at <|20-15|> with height 17
Target Placement Location: <|red|><|container|> at <|14-13|> with height 18
PLAN ACTIONS:
Step 1: Move above <|violet|><|moon|> at <|20-15|> with height 30
Step 2: Lower to <|violet|><|moon|> at <|20-15|> with height 17
Step 3: Close gr... | [{"violet-moon": [62, 83, 17]}, {"red-container": [52, 57, 18]}, {"yellow-triangular prism": [79, 68, 18]}, {"rose-cylinder": [77, 86, 18]}, {"navy-moon": [64, 77, 17]}, {"azure-moon": [83, 78, 18]}, {"lime-moon": [61, 32, 17]}] | Pick up the violet moon and place it into the red container | [
[
62,
83,
30,
0,
60,
90,
1
],
[
62,
83,
17,
0,
60,
90,
1
],
[
62,
83,
17,
0,
60,
90,
0
],
[
62,
83,
30,
0,
60,
90,
0
],
[
52,
57,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|silver|><|cylinder|>": ["<|16-10|>", 17]}] | [{"<|cyan|><|cube|>": ["<|3-2|>", 17]}] | LOCATE OBJECTS:
Target Object: <|silver|><|cylinder|> found at <|16-10|> with height 17
Target Placement Location: <|cyan|><|cube|> at <|3-2|> with height 17
PLAN ACTIONS:
Step 1: Move above <|silver|><|cylinder|> at <|16-10|> with height 30
Step 2: Lower to <|silver|><|cylinder|> at <|16-10|> with height 17
Step 3: Cl... | [{"yellow-cylinder": [49, 77, 18]}, {"navy-cylinder": [68, 63, 18]}, {"green-cube": [28, 74, 18]}, {"cyan-cube": [10, 12, 17]}, {"silver-cylinder": [41, 67, 17]}, {"violet-cylinder": [36, 36, 17]}] | Stack the silver cylinder on top of the cyan cube | [
[
41,
67,
30,
0,
60,
90,
1
],
[
41,
67,
17,
0,
60,
90,
1
],
[
41,
67,
17,
0,
60,
90,
0
],
[
41,
67,
30,
0,
60,
90,
0
],
[
10,
12,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|maroon|><|cube|>": ["<|5-14|>", 18]}] | [{"<|silver|><|container|>": ["<|12-17|>", 19]}] | LOCATE OBJECTS:
Target Object: <|maroon|><|cube|> found at <|5-14|> with height 18
Target Placement Location: <|silver|><|container|> at <|12-17|> with height 19
PLAN ACTIONS:
Step 1: Move above <|maroon|><|cube|> at <|5-14|> with height 30
Step 2: Lower to <|maroon|><|cube|> at <|5-14|> with height 18
Step 3: Close gr... | [{"azure-moon": [22, 27, 17]}, {"violet-cylinder": [72, 55, 17]}, {"silver-container": [70, 49, 19]}, {"white-moon": [56, 76, 18]}, {"maroon-cube": [56, 23, 18]}, {"navy-cube": [55, 35, 18]}] | Pick up the maroon cube and place it into the silver container | [
[
56,
23,
30,
0,
60,
90,
1
],
[
56,
23,
18,
0,
60,
90,
1
],
[
56,
23,
18,
0,
60,
90,
0
],
[
56,
23,
30,
0,
60,
90,
0
],
[
70,
49,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|blue|><|moon|>": ["<|7-5|>", 18]}] | [{"<|red|><|container|>": ["<|18-14|>", 18]}] | LOCATE OBJECTS:
Target Object: <|blue|><|moon|> found at <|7-5|> with height 18
Target Placement Location: <|red|><|container|> at <|18-14|> with height 18
PLAN ACTIONS:
Step 1: Move above <|blue|><|moon|> at <|7-5|> with height 30
Step 2: Lower to <|blue|><|moon|> at <|7-5|> with height 18
Step 3: Close gripper on <|b... | [{"blue-moon": [20, 30, 18]}, {"black-triangular prism": [84, 74, 17]}, {"navy-moon": [72, 20, 17]}, {"navy-cube": [26, 78, 18]}, {"black-cube": [67, 52, 17]}, {"maroon-moon": [35, 65, 17]}, {"red-container": [57, 72, 18]}] | Pick up the blue moon and place it into the red container | [
[
20,
30,
30,
0,
60,
90,
1
],
[
20,
30,
18,
0,
60,
90,
1
],
[
20,
30,
18,
0,
60,
90,
0
],
[
20,
30,
30,
0,
60,
90,
0
],
[
57,
72,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|white|><|star|>": ["<|22-21|>", 17]}] | [{"<|azure|><|cube|>": ["<|16-21|>", 17]}] | LOCATE OBJECTS:
Target Object: <|white|><|star|> found at <|22-21|> with height 17
Target Placement Location: <|azure|><|cube|> at <|16-21|> with height 17
PLAN ACTIONS:
Step 1: Move above <|white|><|star|> at <|22-21|> with height 30
Step 2: Lower to <|white|><|star|> at <|22-21|> with height 17
Step 3: Close gripper ... | [{"teal-triangular prism": [32, 70, 18]}, {"white-star": [87, 89, 17]}, {"green-cylinder": [62, 86, 17]}, {"azure-cube": [87, 64, 17]}, {"violet-cylinder": [70, 38, 18]}, {"navy-triangular prism": [30, 64, 17]}] | Stack the white star on top of the azure cube | [
[
87,
89,
30,
0,
60,
90,
1
],
[
87,
89,
17,
0,
60,
90,
1
],
[
87,
89,
17,
0,
60,
90,
0
],
[
87,
89,
30,
0,
60,
90,
0
],
[
87,
64,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|lime|><|star|>": ["<|14-18|>", 18]}] | [{"<|navy|><|cube|>": ["<|4-20|>", 18]}] | LOCATE OBJECTS:
Target Object: <|lime|><|star|> found at <|14-18|> with height 18
Target Placement Location: <|navy|><|cube|> at <|4-20|> with height 18
PLAN ACTIONS:
Step 1: Move above <|lime|><|star|> at <|14-18|> with height 30
Step 2: Lower to <|lime|><|star|> at <|14-18|> with height 18
Step 3: Close gripper on <|... | [{"navy-cube": [83, 18, 18]}, {"maroon-cylinder": [43, 71, 18]}, {"lime-star": [75, 58, 18]}, {"rose-cylinder": [67, 64, 18]}, {"violet-star": [77, 26, 18]}] | Stack the lime star on top of the navy cube | [
[
75,
58,
30,
0,
60,
90,
1
],
[
75,
58,
18,
0,
60,
90,
1
],
[
75,
58,
18,
0,
60,
90,
0
],
[
75,
58,
30,
0,
60,
90,
0
],
[
83,
18,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|white|><|moon|>": ["<|18-17|>", 18]}] | [{"<|silver|><|container|>": ["<|5-11|>", 18]}] | LOCATE OBJECTS:
Target Object: <|white|><|moon|> found at <|18-17|> with height 18
Target Placement Location: <|silver|><|container|> at <|5-11|> with height 18
PLAN ACTIONS:
Step 1: Move above <|white|><|moon|> at <|18-17|> with height 30
Step 2: Lower to <|white|><|moon|> at <|18-17|> with height 18
Step 3: Close gri... | [{"white-moon": [71, 75, 18]}, {"silver-container": [44, 21, 18]}, {"violet-cube": [21, 68, 17]}, {"silver-star": [82, 23, 18]}, {"red-star": [46, 34, 18]}, {"blue-cube": [81, 54, 17]}, {"lime-star": [49, 22, 17]}] | Pick up the white moon and place it into the silver container | [
[
71,
75,
30,
0,
60,
90,
1
],
[
71,
75,
18,
0,
60,
90,
1
],
[
71,
75,
18,
0,
60,
90,
0
],
[
71,
75,
30,
0,
60,
90,
0
],
[
44,
21,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|purple|><|cube|>": ["<|10-12|>", 18]}] | [{"<|teal|><|moon|>": ["<|10-18|>", 17]}] | LOCATE OBJECTS:
Target Object: <|purple|><|cube|> found at <|10-12|> with height 18
Target Placement Location: <|teal|><|moon|> at <|10-18|> with height 17
PLAN ACTIONS:
Step 1: Move above <|purple|><|cube|> at <|10-12|> with height 30
Step 2: Lower to <|purple|><|cube|> at <|10-12|> with height 18
Step 3: Close grippe... | [{"teal-triangular prism": [73, 73, 18]}, {"purple-cube": [48, 43, 18]}, {"white-triangular prism": [83, 82, 18]}, {"teal-moon": [74, 41, 17]}, {"rose-star": [53, 89, 18]}] | Stack the purple cube on top of the teal moon | [
[
48,
43,
30,
0,
60,
90,
1
],
[
48,
43,
18,
0,
60,
90,
1
],
[
48,
43,
18,
0,
60,
90,
0
],
[
48,
43,
30,
0,
60,
90,
0
],
[
74,
41,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|olive|><|triangular prism|>": ["<|15-22|>", 17]}] | [{"<|cyan|><|container|>": ["<|12-17|>", 19]}] | LOCATE OBJECTS:
Target Object: <|olive|><|triangular prism|> found at <|15-22|> with height 17
Target Placement Location: <|cyan|><|container|> at <|12-17|> with height 19
PLAN ACTIONS:
Step 1: Move above <|olive|><|triangular prism|> at <|15-22|> with height 30
Step 2: Lower to <|olive|><|triangular prism|> at <|15-22... | [{"white-cylinder": [39, 43, 18]}, {"yellow-star": [88, 75, 18]}, {"maroon-star": [89, 34, 18]}, {"olive-triangular prism": [90, 61, 17]}, {"cyan-container": [68, 50, 19]}] | Pick up the olive triangular prism and place it into the cyan container | [
[
90,
61,
30,
0,
60,
90,
1
],
[
90,
61,
17,
0,
60,
90,
1
],
[
90,
61,
17,
0,
60,
90,
0
],
[
90,
61,
30,
0,
60,
90,
0
],
[
68,
50,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|navy|><|moon|>": ["<|14-15|>", 18]}] | [{"<|navy|><|cylinder|>": ["<|5-19|>", 19]}] | LOCATE OBJECTS:
Target Object: <|navy|><|moon|> found at <|14-15|> with height 18
Target Placement Location: <|navy|><|cylinder|> at <|5-19|> with height 19
PLAN ACTIONS:
Step 1: Move above <|navy|><|moon|> at <|14-15|> with height 30
Step 2: Lower to <|navy|><|moon|> at <|14-15|> with height 18
Step 3: Close gripper o... | [{"purple-moon": [65, 71, 17]}, {"silver-cylinder": [56, 39, 17]}, {"navy-moon": [63, 58, 18]}, {"maroon-cylinder": [76, 58, 17]}, {"navy-cylinder": [77, 21, 19]}] | Stack the navy moon on top of the navy cylinder | [
[
63,
58,
30,
0,
60,
90,
1
],
[
63,
58,
18,
0,
60,
90,
1
],
[
63,
58,
18,
0,
60,
90,
0
],
[
63,
58,
30,
0,
60,
90,
0
],
[
77,
21,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|silver|><|star|>": ["<|15-5|>", 17]}] | [{"<|green|><|container|>": ["<|17-7|>", 18]}] | LOCATE OBJECTS:
Target Object: <|silver|><|star|> found at <|15-5|> with height 17
Target Placement Location: <|green|><|container|> at <|17-7|> with height 18
PLAN ACTIONS:
Step 1: Move above <|silver|><|star|> at <|15-5|> with height 30
Step 2: Lower to <|silver|><|star|> at <|15-5|> with height 17
Step 3: Close grip... | [{"magenta-triangular prism": [35, 84, 17]}, {"blue-moon": [61, 67, 18]}, {"purple-star": [22, 52, 18]}, {"green-container": [29, 70, 18]}, {"maroon-cylinder": [52, 45, 17]}, {"silver-star": [22, 60, 17]}] | Pick up the silver star and place it into the green container | [
[
22,
60,
30,
0,
60,
90,
1
],
[
22,
60,
17,
0,
60,
90,
1
],
[
22,
60,
17,
0,
60,
90,
0
],
[
22,
60,
30,
0,
60,
90,
0
],
[
29,
70,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|navy|><|triangular prism|>": ["<|14-7|>", 17]}] | [{"<|red|><|container|>": ["<|18-14|>", 17]}] | LOCATE OBJECTS:
Target Object: <|navy|><|triangular prism|> found at <|14-7|> with height 17
Target Placement Location: <|red|><|container|> at <|18-14|> with height 17
PLAN ACTIONS:
Step 1: Move above <|navy|><|triangular prism|> at <|14-7|> with height 30
Step 2: Lower to <|navy|><|triangular prism|> at <|14-7|> with... | [{"teal-triangular prism": [90, 81, 18]}, {"navy-triangular prism": [30, 58, 17]}, {"white-cube": [35, 47, 18]}, {"red-container": [58, 72, 17]}, {"azure-cylinder": [32, 57, 18]}, {"purple-cube": [73, 71, 17]}] | Pick up the navy triangular prism and place it into the red container | [
[
30,
58,
30,
0,
60,
90,
1
],
[
30,
58,
17,
0,
60,
90,
1
],
[
30,
58,
17,
0,
60,
90,
0
],
[
30,
58,
30,
0,
60,
90,
0
],
[
58,
72,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|violet|><|cylinder|>": ["<|11-20|>", 17]}] | [{"<|azure|><|container|>": ["<|12-21|>", 18]}] | LOCATE OBJECTS:
Target Object: <|violet|><|cylinder|> found at <|11-20|> with height 17
Target Placement Location: <|azure|><|container|> at <|12-21|> with height 18
PLAN ACTIONS:
Step 1: Move above <|violet|><|cylinder|> at <|11-20|> with height 30
Step 2: Lower to <|violet|><|cylinder|> at <|11-20|> with height 17
St... | [{"violet-cylinder": [81, 46, 17]}, {"blue-star": [47, 21, 18]}, {"white-triangular prism": [49, 38, 18]}, {"azure-container": [86, 48, 18]}, {"teal-star": [75, 20, 18]}, {"cyan-cylinder": [90, 26, 18]}] | Pick up the violet cylinder and place it into the azure container | [
[
81,
46,
30,
0,
60,
90,
1
],
[
81,
46,
17,
0,
60,
90,
1
],
[
81,
46,
17,
0,
60,
90,
0
],
[
81,
46,
30,
0,
60,
90,
0
],
[
86,
48,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|lime|><|cube|>": ["<|13-14|>", 18]}] | [{"<|gray|><|container|>": ["<|8-14|>", 17]}] | LOCATE OBJECTS:
Target Object: <|lime|><|cube|> found at <|13-14|> with height 18
Target Placement Location: <|gray|><|container|> at <|8-14|> with height 17
PLAN ACTIONS:
Step 1: Move above <|lime|><|cube|> at <|13-14|> with height 30
Step 2: Lower to <|lime|><|cube|> at <|13-14|> with height 18
Step 3: Close gripper ... | [{"red-triangular prism": [43, 23, 18]}, {"azure-cube": [50, 49, 18]}, {"gray-container": [58, 32, 17]}, {"teal-cylinder": [84, 28, 17]}, {"lime-cube": [56, 53, 18]}, {"rose-cylinder": [79, 81, 18]}] | Pick up the lime cube and place it into the gray container | [
[
56,
53,
30,
0,
60,
90,
1
],
[
56,
53,
18,
0,
60,
90,
1
],
[
56,
53,
18,
0,
60,
90,
0
],
[
56,
53,
30,
0,
60,
90,
0
],
[
58,
32,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|olive|><|cube|>": ["<|18-12|>", 18]}] | [{"<|purple|><|cylinder|>": ["<|21-11|>", 18]}] | LOCATE OBJECTS:
Target Object: <|olive|><|cube|> found at <|18-12|> with height 18
Target Placement Location: <|purple|><|cylinder|> at <|21-11|> with height 18
PLAN ACTIONS:
Step 1: Move above <|olive|><|cube|> at <|18-12|> with height 30
Step 2: Lower to <|olive|><|cube|> at <|18-12|> with height 18
Step 3: Close gri... | [{"olive-cube": [49, 74, 18]}, {"purple-cylinder": [45, 86, 18]}, {"gray-star": [41, 47, 18]}, {"lime-cube": [78, 76, 18]}, {"blue-moon": [69, 31, 18]}, {"maroon-moon": [75, 30, 18]}, {"magenta-star": [44, 52, 17]}] | Stack the olive cube on top of the purple cylinder | [
[
49,
74,
30,
0,
60,
90,
1
],
[
49,
74,
18,
0,
60,
90,
1
],
[
49,
74,
18,
0,
60,
90,
0
],
[
49,
74,
30,
0,
60,
90,
0
],
[
45,
86,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|white|><|cylinder|>": ["<|18-16|>", 18]}] | [{"<|lime|><|moon|>": ["<|5-5|>", 18]}] | LOCATE OBJECTS:
Target Object: <|white|><|cylinder|> found at <|18-16|> with height 18
Target Placement Location: <|lime|><|moon|> at <|5-5|> with height 18
PLAN ACTIONS:
Step 1: Move above <|white|><|cylinder|> at <|18-16|> with height 30
Step 2: Lower to <|white|><|cylinder|> at <|18-16|> with height 18
Step 3: Close... | [{"rose-moon": [62, 66, 17]}, {"green-moon": [71, 68, 17]}, {"white-cylinder": [65, 72, 18]}, {"magenta-star": [67, 89, 18]}, {"navy-star": [61, 49, 17]}, {"lime-moon": [20, 23, 18]}] | Stack the white cylinder on top of the lime moon | [
[
65,
72,
30,
0,
60,
90,
1
],
[
65,
72,
18,
0,
60,
90,
1
],
[
65,
72,
18,
0,
60,
90,
0
],
[
65,
72,
30,
0,
60,
90,
0
],
[
20,
23,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|olive|><|star|>": ["<|6-14|>", 17]}] | [{"<|violet|><|moon|>": ["<|22-4|>", 19]}] | LOCATE OBJECTS:
Target Object: <|olive|><|star|> found at <|6-14|> with height 17
Target Placement Location: <|violet|><|moon|> at <|22-4|> with height 19
PLAN ACTIONS:
Step 1: Move above <|olive|><|star|> at <|6-14|> with height 30
Step 2: Lower to <|olive|><|star|> at <|6-14|> with height 17
Step 3: Close gripper on ... | [{"azure-star": [30, 63, 17]}, {"navy-triangular prism": [56, 39, 17]}, {"olive-star": [58, 27, 17]}, {"silver-moon": [55, 52, 17]}, {"gray-cylinder": [74, 35, 17]}, {"violet-moon": [16, 88, 19]}] | Stack the olive star on top of the violet moon | [
[
58,
27,
30,
0,
60,
90,
1
],
[
58,
27,
17,
0,
60,
90,
1
],
[
58,
27,
17,
0,
60,
90,
0
],
[
58,
27,
30,
0,
60,
90,
0
],
[
16,
88,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|rose|><|moon|>": ["<|5-16|>", 17]}] | [{"<|yellow|><|cylinder|>": ["<|19-16|>", 18]}] | LOCATE OBJECTS:
Target Object: <|rose|><|moon|> found at <|5-16|> with height 17
Target Placement Location: <|yellow|><|cylinder|> at <|19-16|> with height 18
PLAN ACTIONS:
Step 1: Move above <|rose|><|moon|> at <|5-16|> with height 30
Step 2: Lower to <|rose|><|moon|> at <|5-16|> with height 17
Step 3: Close gripper o... | [{"yellow-cylinder": [65, 79, 18]}, {"blue-moon": [58, 85, 18]}, {"azure-triangular prism": [20, 41, 18]}, {"maroon-cube": [84, 62, 17]}, {"rose-moon": [66, 22, 17]}, {"gray-triangular prism": [26, 69, 18]}, {"white-cylinder": [61, 50, 18]}] | Stack the rose moon on top of the yellow cylinder | [
[
66,
22,
30,
0,
60,
90,
1
],
[
66,
22,
17,
0,
60,
90,
1
],
[
66,
22,
17,
0,
60,
90,
0
],
[
66,
22,
30,
0,
60,
90,
0
],
[
65,
79,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|gray|><|cube|>": ["<|8-16|>", 18]}] | [{"<|olive|><|cylinder|>": ["<|18-16|>", 19]}] | LOCATE OBJECTS:
Target Object: <|gray|><|cube|> found at <|8-16|> with height 18
Target Placement Location: <|olive|><|cylinder|> at <|18-16|> with height 19
PLAN ACTIONS:
Step 1: Move above <|gray|><|cube|> at <|8-16|> with height 30
Step 2: Lower to <|gray|><|cube|> at <|8-16|> with height 18
Step 3: Close gripper on... | [{"gray-cube": [66, 35, 18]}, {"olive-triangular prism": [88, 59, 18]}, {"gray-star": [70, 85, 18]}, {"black-cube": [67, 46, 17]}, {"olive-cylinder": [67, 74, 19]}] | Stack the gray cube on top of the olive cylinder | [
[
66,
35,
30,
0,
60,
90,
1
],
[
66,
35,
18,
0,
60,
90,
1
],
[
66,
35,
18,
0,
60,
90,
0
],
[
66,
35,
30,
0,
60,
90,
0
],
[
67,
74,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|yellow|><|cube|>": ["<|7-9|>", 18]}] | [{"<|black|><|container|>": ["<|3-22|>", 17]}] | LOCATE OBJECTS:
Target Object: <|yellow|><|cube|> found at <|7-9|> with height 18
Target Placement Location: <|black|><|container|> at <|3-22|> with height 17
PLAN ACTIONS:
Step 1: Move above <|yellow|><|cube|> at <|7-9|> with height 30
Step 2: Lower to <|yellow|><|cube|> at <|7-9|> with height 18
Step 3: Close gripper... | [{"blue-star": [62, 35, 18]}, {"yellow-cube": [36, 31, 18]}, {"red-cylinder": [83, 63, 18]}, {"azure-cube": [76, 51, 18]}, {"black-moon": [72, 36, 17]}, {"black-container": [88, 15, 17]}] | Pick up the yellow cube and place it into the black container | [
[
36,
31,
30,
0,
60,
90,
1
],
[
36,
31,
18,
0,
60,
90,
1
],
[
36,
31,
18,
0,
60,
90,
0
],
[
36,
31,
30,
0,
60,
90,
0
],
[
88,
15,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|navy|><|moon|>": ["<|14-17|>", 18]}] | [{"<|red|><|container|>": ["<|12-22|>", 17]}] | LOCATE OBJECTS:
Target Object: <|navy|><|moon|> found at <|14-17|> with height 18
Target Placement Location: <|red|><|container|> at <|12-22|> with height 17
PLAN ACTIONS:
Step 1: Move above <|navy|><|moon|> at <|14-17|> with height 30
Step 2: Lower to <|navy|><|moon|> at <|14-17|> with height 18
Step 3: Close gripper ... | [{"rose-triangular prism": [60, 73, 18]}, {"navy-moon": [69, 57, 18]}, {"red-container": [90, 48, 17]}, {"lime-moon": [26, 24, 17]}, {"violet-cylinder": [27, 83, 18]}, {"lime-cylinder": [36, 78, 18]}, {"silver-cylinder": [87, 61, 17]}] | Pick up the navy moon and place it into the red container | [
[
69,
57,
30,
0,
60,
90,
1
],
[
69,
57,
18,
0,
60,
90,
1
],
[
69,
57,
18,
0,
60,
90,
0
],
[
69,
57,
30,
0,
60,
90,
0
],
[
90,
48,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|gray|><|star|>": ["<|19-17|>", 17]}] | [{"<|violet|><|container|>": ["<|8-8|>", 17]}] | LOCATE OBJECTS:
Target Object: <|gray|><|star|> found at <|19-17|> with height 17
Target Placement Location: <|violet|><|container|> at <|8-8|> with height 17
PLAN ACTIONS:
Step 1: Move above <|gray|><|star|> at <|19-17|> with height 30
Step 2: Lower to <|gray|><|star|> at <|19-17|> with height 17
Step 3: Close gripper... | [{"silver-moon": [37, 39, 18]}, {"white-star": [24, 44, 18]}, {"magenta-cylinder": [86, 69, 18]}, {"violet-container": [34, 33, 17]}, {"gray-star": [68, 78, 17]}, {"silver-cylinder": [59, 40, 17]}, {"black-triangular prism": [76, 61, 17]}] | Pick up the gray star and place it into the violet container | [
[
68,
78,
30,
0,
60,
90,
1
],
[
68,
78,
17,
0,
60,
90,
1
],
[
68,
78,
17,
0,
60,
90,
0
],
[
68,
78,
30,
0,
60,
90,
0
],
[
34,
33,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|gray|><|cube|>": ["<|16-7|>", 18]}] | [{"<|magenta|><|container|>": ["<|17-5|>", 17]}] | LOCATE OBJECTS:
Target Object: <|gray|><|cube|> found at <|16-7|> with height 18
Target Placement Location: <|magenta|><|container|> at <|17-5|> with height 17
PLAN ACTIONS:
Step 1: Move above <|gray|><|cube|> at <|16-7|> with height 30
Step 2: Lower to <|gray|><|cube|> at <|16-7|> with height 18
Step 3: Close gripper ... | [{"olive-cube": [62, 82, 18]}, {"magenta-container": [22, 70, 17]}, {"gray-cube": [29, 64, 18]}, {"gray-cylinder": [28, 67, 18]}, {"teal-star": [86, 35, 17]}] | Pick up the gray cube and place it into the magenta container | [
[
29,
64,
30,
0,
60,
90,
1
],
[
29,
64,
18,
0,
60,
90,
1
],
[
29,
64,
18,
0,
60,
90,
0
],
[
29,
64,
30,
0,
60,
90,
0
],
[
22,
70,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|azure|><|moon|>": ["<|18-19|>", 17]}] | [{"<|purple|><|container|>": ["<|22-14|>", 17]}] | LOCATE OBJECTS:
Target Object: <|azure|><|moon|> found at <|18-19|> with height 17
Target Placement Location: <|purple|><|container|> at <|22-14|> with height 17
PLAN ACTIONS:
Step 1: Move above <|azure|><|moon|> at <|18-19|> with height 30
Step 2: Lower to <|azure|><|moon|> at <|18-19|> with height 17
Step 3: Close gr... | [{"blue-moon": [46, 31, 17]}, {"azure-moon": [79, 73, 17]}, {"yellow-cube": [55, 82, 17]}, {"purple-container": [59, 89, 17]}, {"black-cylinder": [86, 81, 18]}] | Pick up the azure moon and place it into the purple container | [
[
79,
73,
30,
0,
60,
90,
1
],
[
79,
73,
17,
0,
60,
90,
1
],
[
79,
73,
17,
0,
60,
90,
0
],
[
79,
73,
30,
0,
60,
90,
0
],
[
59,
89,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|lime|><|triangular prism|>": ["<|15-13|>", 17]}] | [{"<|azure|><|cylinder|>": ["<|12-16|>", 17]}] | LOCATE OBJECTS:
Target Object: <|lime|><|triangular prism|> found at <|15-13|> with height 17
Target Placement Location: <|azure|><|cylinder|> at <|12-16|> with height 17
PLAN ACTIONS:
Step 1: Move above <|lime|><|triangular prism|> at <|15-13|> with height 30
Step 2: Lower to <|lime|><|triangular prism|> at <|15-13|> ... | [{"purple-cylinder": [78, 81, 17]}, {"blue-cylinder": [67, 20, 18]}, {"gray-cube": [79, 65, 17]}, {"azure-cube": [42, 26, 17]}, {"lime-triangular prism": [52, 62, 17]}, {"black-moon": [90, 27, 17]}, {"azure-cylinder": [67, 51, 17]}] | Stack the lime triangular prism on top of the azure cylinder | [
[
52,
62,
30,
0,
60,
90,
1
],
[
52,
62,
17,
0,
60,
90,
1
],
[
52,
62,
17,
0,
60,
90,
0
],
[
52,
62,
30,
0,
60,
90,
0
],
[
67,
51,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|green|><|cylinder|>": ["<|20-16|>", 18]}] | [{"<|cyan|><|moon|>": ["<|10-5|>", 18]}] | LOCATE OBJECTS:
Target Object: <|green|><|cylinder|> found at <|20-16|> with height 18
Target Placement Location: <|cyan|><|moon|> at <|10-5|> with height 18
PLAN ACTIONS:
Step 1: Move above <|green|><|cylinder|> at <|20-16|> with height 30
Step 2: Lower to <|green|><|cylinder|> at <|20-16|> with height 18
Step 3: Clos... | [{"purple-star": [72, 84, 17]}, {"azure-star": [62, 24, 18]}, {"cyan-moon": [22, 43, 18]}, {"rose-cylinder": [76, 60, 18]}, {"green-cylinder": [67, 83, 18]}, {"white-moon": [86, 39, 17]}] | Stack the green cylinder on top of the cyan moon | [
[
67,
83,
30,
0,
60,
90,
1
],
[
67,
83,
18,
0,
60,
90,
1
],
[
67,
83,
18,
0,
60,
90,
0
],
[
67,
83,
30,
0,
60,
90,
0
],
[
22,
43,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|lime|><|cylinder|>": ["<|6-9|>", 17]}] | [{"<|rose|><|star|>": ["<|19-9|>", 19]}] | LOCATE OBJECTS:
Target Object: <|lime|><|cylinder|> found at <|6-9|> with height 17
Target Placement Location: <|rose|><|star|> at <|19-9|> with height 19
PLAN ACTIONS:
Step 1: Move above <|lime|><|cylinder|> at <|6-9|> with height 30
Step 2: Lower to <|lime|><|cylinder|> at <|6-9|> with height 17
Step 3: Close gripper... | [{"lime-cylinder": [38, 24, 17]}, {"violet-star": [43, 59, 17]}, {"rose-star": [38, 78, 19]}, {"rose-cylinder": [69, 58, 17]}, {"black-cube": [67, 88, 17]}, {"white-cube": [76, 27, 17]}] | Stack the lime cylinder on top of the rose star | [
[
38,
24,
30,
0,
60,
90,
1
],
[
38,
24,
17,
0,
60,
90,
1
],
[
38,
24,
17,
0,
60,
90,
0
],
[
38,
24,
30,
0,
60,
90,
0
],
[
38,
78,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|cyan|><|star|>": ["<|10-13|>", 17]}] | [{"<|azure|><|container|>": ["<|9-19|>", 19]}] | LOCATE OBJECTS:
Target Object: <|cyan|><|star|> found at <|10-13|> with height 17
Target Placement Location: <|azure|><|container|> at <|9-19|> with height 19
PLAN ACTIONS:
Step 1: Move above <|cyan|><|star|> at <|10-13|> with height 30
Step 2: Lower to <|cyan|><|star|> at <|10-13|> with height 17
Step 3: Close gripper... | [{"black-star": [47, 63, 17]}, {"green-moon": [60, 21, 18]}, {"lime-cylinder": [77, 64, 17]}, {"azure-container": [78, 36, 19]}, {"purple-moon": [40, 45, 17]}, {"cyan-star": [53, 40, 17]}, {"green-triangular prism": [88, 57, 18]}] | Pick up the cyan star and place it into the azure container | [
[
53,
40,
30,
0,
60,
90,
1
],
[
53,
40,
17,
0,
60,
90,
1
],
[
53,
40,
17,
0,
60,
90,
0
],
[
53,
40,
30,
0,
60,
90,
0
],
[
78,
36,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|white|><|cylinder|>": ["<|20-17|>", 17]}] | [{"<|azure|><|cube|>": ["<|18-5|>", 17]}] | LOCATE OBJECTS:
Target Object: <|white|><|cylinder|> found at <|20-17|> with height 17
Target Placement Location: <|azure|><|cube|> at <|18-5|> with height 17
PLAN ACTIONS:
Step 1: Move above <|white|><|cylinder|> at <|20-17|> with height 30
Step 2: Lower to <|white|><|cylinder|> at <|20-17|> with height 17
Step 3: Clo... | [{"violet-moon": [62, 39, 17]}, {"maroon-star": [47, 80, 18]}, {"white-cylinder": [69, 83, 17]}, {"navy-moon": [60, 55, 17]}, {"gray-cube": [64, 28, 18]}, {"azure-cube": [21, 75, 17]}] | Stack the white cylinder on top of the azure cube | [
[
69,
83,
30,
0,
60,
90,
1
],
[
69,
83,
17,
0,
60,
90,
1
],
[
69,
83,
17,
0,
60,
90,
0
],
[
69,
83,
30,
0,
60,
90,
0
],
[
21,
75,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|red|><|triangular prism|>": ["<|15-17|>", 18]}] | [{"<|gray|><|container|>": ["<|5-20|>", 19]}] | LOCATE OBJECTS:
Target Object: <|red|><|triangular prism|> found at <|15-17|> with height 18
Target Placement Location: <|gray|><|container|> at <|5-20|> with height 19
PLAN ACTIONS:
Step 1: Move above <|red|><|triangular prism|> at <|15-17|> with height 30
Step 2: Lower to <|red|><|triangular prism|> at <|15-17|> with... | [{"navy-cylinder": [47, 58, 18]}, {"red-triangular prism": [68, 62, 18]}, {"violet-cube": [59, 29, 17]}, {"silver-star": [53, 57, 17]}, {"gray-container": [83, 23, 19]}, {"green-cylinder": [63, 26, 17]}, {"green-cube": [37, 37, 17]}] | Pick up the red triangular prism and place it into the gray container | [
[
68,
62,
30,
0,
60,
90,
1
],
[
68,
62,
18,
0,
60,
90,
1
],
[
68,
62,
18,
0,
60,
90,
0
],
[
68,
62,
30,
0,
60,
90,
0
],
[
83,
23,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|cyan|><|moon|>": ["<|18-9|>", 18]}] | [{"<|red|><|container|>": ["<|18-16|>", 17]}] | LOCATE OBJECTS:
Target Object: <|cyan|><|moon|> found at <|18-9|> with height 18
Target Placement Location: <|red|><|container|> at <|18-16|> with height 17
PLAN ACTIONS:
Step 1: Move above <|cyan|><|moon|> at <|18-9|> with height 30
Step 2: Lower to <|cyan|><|moon|> at <|18-9|> with height 18
Step 3: Close gripper on ... | [{"cyan-moon": [36, 72, 18]}, {"navy-star": [86, 72, 18]}, {"black-moon": [80, 88, 18]}, {"red-container": [67, 73, 17]}, {"gray-star": [33, 82, 18]}] | Pick up the cyan moon and place it into the red container | [
[
36,
72,
30,
0,
60,
90,
1
],
[
36,
72,
18,
0,
60,
90,
1
],
[
36,
72,
18,
0,
60,
90,
0
],
[
36,
72,
30,
0,
60,
90,
0
],
[
67,
73,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|magenta|><|moon|>": ["<|22-15|>", 17]}] | [{"<|black|><|container|>": ["<|13-8|>", 19]}] | LOCATE OBJECTS:
Target Object: <|magenta|><|moon|> found at <|22-15|> with height 17
Target Placement Location: <|black|><|container|> at <|13-8|> with height 19
PLAN ACTIONS:
Step 1: Move above <|magenta|><|moon|> at <|22-15|> with height 30
Step 2: Lower to <|magenta|><|moon|> at <|22-15|> with height 17
Step 3: Clos... | [{"magenta-moon": [62, 90, 17]}, {"black-container": [35, 54, 19]}, {"yellow-cube": [47, 36, 17]}, {"black-star": [37, 59, 17]}, {"yellow-moon": [46, 65, 17]}, {"rose-star": [48, 31, 18]}, {"violet-star": [40, 82, 18]}] | Pick up the magenta moon and place it into the black container | [
[
62,
90,
30,
0,
60,
90,
1
],
[
62,
90,
17,
0,
60,
90,
1
],
[
62,
90,
17,
0,
60,
90,
0
],
[
62,
90,
30,
0,
60,
90,
0
],
[
35,
54,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|black|><|star|>": ["<|17-14|>", 17]}] | [{"<|silver|><|container|>": ["<|19-8|>", 18]}] | LOCATE OBJECTS:
Target Object: <|black|><|star|> found at <|17-14|> with height 17
Target Placement Location: <|silver|><|container|> at <|19-8|> with height 18
PLAN ACTIONS:
Step 1: Move above <|black|><|star|> at <|17-14|> with height 30
Step 2: Lower to <|black|><|star|> at <|17-14|> with height 17
Step 3: Close gri... | [{"lime-star": [64, 67, 17]}, {"violet-moon": [52, 39, 18]}, {"silver-container": [34, 77, 18]}, {"black-star": [56, 70, 17]}, {"maroon-cylinder": [75, 84, 17]}, {"purple-moon": [44, 32, 18]}, {"magenta-cylinder": [56, 37, 17]}] | Pick up the black star and place it into the silver container | [
[
56,
70,
30,
0,
60,
90,
1
],
[
56,
70,
17,
0,
60,
90,
1
],
[
56,
70,
17,
0,
60,
90,
0
],
[
56,
70,
30,
0,
60,
90,
0
],
[
34,
77,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|white|><|moon|>": ["<|21-18|>", 17]}] | [{"<|cyan|><|container|>": ["<|3-3|>", 17]}] | LOCATE OBJECTS:
Target Object: <|white|><|moon|> found at <|21-18|> with height 17
Target Placement Location: <|cyan|><|container|> at <|3-3|> with height 17
PLAN ACTIONS:
Step 1: Move above <|white|><|moon|> at <|21-18|> with height 30
Step 2: Lower to <|white|><|moon|> at <|21-18|> with height 17
Step 3: Close grippe... | [{"white-moon": [72, 84, 17]}, {"cyan-container": [14, 15, 17]}, {"green-star": [64, 80, 17]}, {"teal-triangular prism": [64, 61, 17]}, {"azure-cube": [65, 76, 18]}] | Pick up the white moon and place it into the cyan container | [
[
72,
84,
30,
0,
60,
90,
1
],
[
72,
84,
17,
0,
60,
90,
1
],
[
72,
84,
17,
0,
60,
90,
0
],
[
72,
84,
30,
0,
60,
90,
0
],
[
14,
15,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|lime|><|star|>": ["<|19-20|>", 18]}] | [{"<|azure|><|moon|>": ["<|17-8|>", 19]}] | LOCATE OBJECTS:
Target Object: <|lime|><|star|> found at <|19-20|> with height 18
Target Placement Location: <|azure|><|moon|> at <|17-8|> with height 19
PLAN ACTIONS:
Step 1: Move above <|lime|><|star|> at <|19-20|> with height 30
Step 2: Lower to <|lime|><|star|> at <|19-20|> with height 18
Step 3: Close gripper on <... | [{"green-cylinder": [39, 46, 17]}, {"navy-cube": [80, 86, 17]}, {"lime-star": [82, 76, 18]}, {"azure-moon": [34, 71, 19]}, {"maroon-star": [60, 26, 18]}, {"azure-cylinder": [32, 65, 17]}, {"black-star": [72, 53, 17]}] | Stack the lime star on top of the azure moon | [
[
82,
76,
30,
0,
60,
90,
1
],
[
82,
76,
18,
0,
60,
90,
1
],
[
82,
76,
18,
0,
60,
90,
0
],
[
82,
76,
30,
0,
60,
90,
0
],
[
34,
71,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|black|><|cube|>": ["<|15-18|>", 18]}] | [{"<|lime|><|container|>": ["<|4-20|>", 17]}] | LOCATE OBJECTS:
Target Object: <|black|><|cube|> found at <|15-18|> with height 18
Target Placement Location: <|lime|><|container|> at <|4-20|> with height 17
PLAN ACTIONS:
Step 1: Move above <|black|><|cube|> at <|15-18|> with height 30
Step 2: Lower to <|black|><|cube|> at <|15-18|> with height 18
Step 3: Close gripp... | [{"black-triangular prism": [80, 49, 18]}, {"magenta-cylinder": [55, 56, 18]}, {"olive-moon": [61, 81, 18]}, {"black-cube": [75, 61, 18]}, {"lime-container": [82, 17, 17]}] | Pick up the black cube and place it into the lime container | [
[
75,
61,
30,
0,
60,
90,
1
],
[
75,
61,
18,
0,
60,
90,
1
],
[
75,
61,
18,
0,
60,
90,
0
],
[
75,
61,
30,
0,
60,
90,
0
],
[
82,
17,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|gray|><|star|>": ["<|13-9|>", 17]}] | [{"<|lime|><|star|>": ["<|19-14|>", 19]}] | LOCATE OBJECTS:
Target Object: <|gray|><|star|> found at <|13-9|> with height 17
Target Placement Location: <|lime|><|star|> at <|19-14|> with height 19
PLAN ACTIONS:
Step 1: Move above <|gray|><|star|> at <|13-9|> with height 30
Step 2: Lower to <|gray|><|star|> at <|13-9|> with height 17
Step 3: Close gripper on <|gr... | [{"blue-cube": [31, 32, 17]}, {"violet-triangular prism": [33, 84, 17]}, {"yellow-cylinder": [48, 25, 17]}, {"lime-star": [57, 79, 19]}, {"gray-star": [38, 55, 17]}, {"cyan-moon": [22, 56, 17]}] | Stack the gray star on top of the lime star | [
[
38,
55,
30,
0,
60,
90,
1
],
[
38,
55,
17,
0,
60,
90,
1
],
[
38,
55,
17,
0,
60,
90,
0
],
[
38,
55,
30,
0,
60,
90,
0
],
[
57,
79,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|rose|><|cube|>": ["<|18-22|>", 18]}] | [{"<|blue|><|container|>": ["<|7-19|>", 17]}] | LOCATE OBJECTS:
Target Object: <|rose|><|cube|> found at <|18-22|> with height 18
Target Placement Location: <|blue|><|container|> at <|7-19|> with height 17
PLAN ACTIONS:
Step 1: Move above <|rose|><|cube|> at <|18-22|> with height 30
Step 2: Lower to <|rose|><|cube|> at <|18-22|> with height 18
Step 3: Close gripper ... | [{"blue-container": [76, 31, 17]}, {"purple-moon": [71, 22, 18]}, {"maroon-cylinder": [66, 50, 18]}, {"gray-cube": [47, 32, 18]}, {"teal-cylinder": [25, 49, 17]}, {"rose-cube": [88, 73, 18]}] | Pick up the rose cube and place it into the blue container | [
[
88,
73,
30,
0,
60,
90,
1
],
[
88,
73,
18,
0,
60,
90,
1
],
[
88,
73,
18,
0,
60,
90,
0
],
[
88,
73,
30,
0,
60,
90,
0
],
[
76,
31,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|rose|><|moon|>": ["<|8-8|>", 18]}] | [{"<|olive|><|container|>": ["<|20-9|>", 17]}] | LOCATE OBJECTS:
Target Object: <|rose|><|moon|> found at <|8-8|> with height 18
Target Placement Location: <|olive|><|container|> at <|20-9|> with height 17
PLAN ACTIONS:
Step 1: Move above <|rose|><|moon|> at <|8-8|> with height 30
Step 2: Lower to <|rose|><|moon|> at <|8-8|> with height 18
Step 3: Close gripper on <|... | [{"olive-container": [38, 80, 17]}, {"white-triangular prism": [27, 57, 17]}, {"blue-cylinder": [87, 68, 18]}, {"rose-moon": [34, 35, 18]}, {"teal-moon": [45, 42, 18]}] | Pick up the rose moon and place it into the olive container | [
[
34,
35,
30,
0,
60,
90,
1
],
[
34,
35,
18,
0,
60,
90,
1
],
[
34,
35,
18,
0,
60,
90,
0
],
[
34,
35,
30,
0,
60,
90,
0
],
[
38,
80,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|azure|><|star|>": ["<|12-22|>", 17]}] | [{"<|red|><|triangular prism|>": ["<|2-20|>", 19]}] | LOCATE OBJECTS:
Target Object: <|azure|><|star|> found at <|12-22|> with height 17
Target Placement Location: <|red|><|triangular prism|> at <|2-20|> with height 19
PLAN ACTIONS:
Step 1: Move above <|azure|><|star|> at <|12-22|> with height 30
Step 2: Lower to <|azure|><|star|> at <|12-22|> with height 17
Step 3: Close... | [{"cyan-cylinder": [89, 46, 18]}, {"magenta-triangular prism": [35, 84, 18]}, {"white-cube": [45, 34, 17]}, {"red-triangular prism": [80, 11, 19]}, {"azure-star": [90, 48, 17]}] | Stack the azure star on top of the red triangular prism | [
[
90,
48,
30,
0,
60,
90,
1
],
[
90,
48,
17,
0,
60,
90,
1
],
[
90,
48,
17,
0,
60,
90,
0
],
[
90,
48,
30,
0,
60,
90,
0
],
[
80,
11,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|black|><|cylinder|>": ["<|9-12|>", 18]}] | [{"<|azure|><|container|>": ["<|7-13|>", 18]}] | LOCATE OBJECTS:
Target Object: <|black|><|cylinder|> found at <|9-12|> with height 18
Target Placement Location: <|azure|><|container|> at <|7-13|> with height 18
PLAN ACTIONS:
Step 1: Move above <|black|><|cylinder|> at <|9-12|> with height 30
Step 2: Lower to <|black|><|cylinder|> at <|9-12|> with height 18
Step 3: C... | [{"green-moon": [42, 32, 18]}, {"silver-star": [39, 39, 17]}, {"violet-cylinder": [65, 20, 17]}, {"black-cylinder": [49, 38, 18]}, {"azure-container": [55, 29, 18]}, {"magenta-moon": [69, 48, 18]}] | Pick up the black cylinder and place it into the azure container | [
[
49,
38,
30,
0,
60,
90,
1
],
[
49,
38,
18,
0,
60,
90,
1
],
[
49,
38,
18,
0,
60,
90,
0
],
[
49,
38,
30,
0,
60,
90,
0
],
[
55,
29,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|purple|><|star|>": ["<|21-20|>", 17]}] | [{"<|violet|><|moon|>": ["<|15-16|>", 17]}] | LOCATE OBJECTS:
Target Object: <|purple|><|star|> found at <|21-20|> with height 17
Target Placement Location: <|violet|><|moon|> at <|15-16|> with height 17
PLAN ACTIONS:
Step 1: Move above <|purple|><|star|> at <|21-20|> with height 30
Step 2: Lower to <|purple|><|star|> at <|21-20|> with height 17
Step 3: Close grip... | [{"red-star": [54, 87, 18]}, {"gray-cylinder": [61, 73, 18]}, {"violet-moon": [67, 63, 17]}, {"purple-star": [81, 85, 17]}, {"rose-cylinder": [42, 87, 18]}, {"white-cylinder": [30, 25, 18]}, {"blue-star": [89, 46, 18]}] | Stack the purple star on top of the violet moon | [
[
81,
85,
30,
0,
60,
90,
1
],
[
81,
85,
17,
0,
60,
90,
1
],
[
81,
85,
17,
0,
60,
90,
0
],
[
81,
85,
30,
0,
60,
90,
0
],
[
67,
63,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|violet|><|star|>": ["<|16-14|>", 18]}] | [{"<|azure|><|star|>": ["<|19-6|>", 18]}] | LOCATE OBJECTS:
Target Object: <|violet|><|star|> found at <|16-14|> with height 18
Target Placement Location: <|azure|><|star|> at <|19-6|> with height 18
PLAN ACTIONS:
Step 1: Move above <|violet|><|star|> at <|16-14|> with height 30
Step 2: Lower to <|violet|><|star|> at <|16-14|> with height 18
Step 3: Close grippe... | [{"azure-star": [26, 77, 18]}, {"magenta-star": [67, 77, 18]}, {"olive-triangular prism": [72, 60, 17]}, {"red-star": [33, 46, 18]}, {"violet-star": [56, 64, 18]}, {"azure-cube": [81, 43, 18]}] | Stack the violet star on top of the azure star | [
[
56,
64,
30,
0,
60,
90,
1
],
[
56,
64,
18,
0,
60,
90,
1
],
[
56,
64,
18,
0,
60,
90,
0
],
[
56,
64,
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 25x25 discrete grid for visualization\n- ... |
Subsets and Splits
No community queries yet
The top public SQL queries from the community will appear here once available.