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