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