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