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