[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
To grasp object 3, which object is on top of it?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Tell me the top-most object that blocks access to object 8.


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
What object should be removed before grasping object 3?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Identify the object occluding object 3.


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Identify the object occluding object 4.


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Before I grasp object 5, what must be removed?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
To pick up object 6, which object is blocking it?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Identify the object occluding object 1.


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Identify the object occluding object 2.


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
I want to grasp object 4. What should I remove first?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
What object should be removed before grasping object 2?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Before I grasp object 2, what must be removed?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
What is the top object that occludes object 2?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
I want to grasp object 4. What should I remove first?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
To grasp object 2, which object is on top of it?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
What object should be removed before grasping object 1?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
To pick up object 3, which object is blocking it?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Which object must be removed first to grasp object 6?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Tell me the top-most object that blocks access to object 7.


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Which object must be removed first to grasp object 2?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Before I grasp object 3, what must be removed?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Which object must be removed first to grasp object 4?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
I want to grasp object 6. What should I remove first?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
To pick up object 7, which object is blocking it?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
What object should be removed before grasping object 3?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Identify the object occluding object 4.


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
What is the first object I need to grasp to reach object 5?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
To grasp object 6, which object is on top of it?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Which object must be removed first to grasp object 7?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Tell me the top-most object that blocks access to object 1.


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Before I grasp object 3, what must be removed?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Which object must be removed first to grasp object 4?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Tell me the top-most object that blocks access to object 5.


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
What is the first object I need to grasp to reach object 6?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Before I grasp object 7, what must be removed?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
What object should be removed before grasping object 2?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Tell me the top-most object that blocks access to object 3.


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Which object must be removed first to grasp object 5?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Identify the object occluding object 2.


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Before I grasp object 3, what must be removed?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
I want to grasp object 4. What should I remove first?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
To pick up object 1, which object is blocking it?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
What object should be removed before grasping object 2?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
What is the top object that occludes object 2?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Which object must be removed first to grasp object 3?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
To grasp object 2, which object is on top of it?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
What is the top object that occludes object 1?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
What is the top object that occludes object 2?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
What object should be removed before grasping object 5?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Identify the object occluding object 1.


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
I want to grasp object 2. What should I remove first?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Tell me the top-most object that blocks access to object 3.


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
To pick up object 5, which object is blocking it?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Identify the object occluding object 1.


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
What is the first object I need to grasp to reach object 2?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
To pick up object 5, which object is blocking it?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Which object must be removed first to grasp object 1?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Before I grasp object 3, what must be removed?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
I want to grasp object 5. What should I remove first?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
What is the top object that occludes object 2?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
To grasp object 3, which object is on top of it?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Tell me the top-most object that blocks access to object 5.


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Before I grasp object 2, what must be removed?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
To grasp object 3, which object is on top of it?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
To grasp object 4, which object is on top of it?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
What is the first object I need to grasp to reach object 1?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
To grasp object 2, which object is on top of it?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Which object must be removed first to grasp object 3?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Tell me the top-most object that blocks access to object 4.


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
To pick up object 5, which object is blocking it?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
I want to grasp object 1. What should I remove first?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
To grasp object 2, which object is on top of it?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
I want to grasp object 3. What should I remove first?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
What is the first object I need to grasp to reach object 4?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
What is the top object that occludes object 5?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
To grasp object 3, which object is on top of it?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
What object should be removed before grasping object 1?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Before I grasp object 3, what must be removed?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
What object should be removed before grasping object 1?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
To grasp object 3, which object is on top of it?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Before I grasp object 6, what must be removed?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Tell me the top-most object that blocks access to object 7.


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Identify the object occluding object 1.


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
To pick up object 3, which object is blocking it?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
To pick up object 5, which object is blocking it?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
What is the top object that occludes object 7?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Before I grasp object 1, what must be removed?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Which object must be removed first to grasp object 1?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
What is the first object I need to grasp to reach object 7?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
What is the first object I need to grasp to reach object 1?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Before I grasp object 4, what must be removed?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Identify the object occluding object 5.


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Identify the object occluding object 5.


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Tell me the top-most object that blocks access to object 3.


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Tell me the top-most object that blocks access to object 5.


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
To pick up object 5, which object is blocking it?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
I want to grasp object 1. What should I remove first?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Before I grasp object 3, what must be removed?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Which object must be removed first to grasp object 6?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Which object must be removed first to grasp object 1?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
What object should be removed before grasping object 3?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Tell me the top-most object that blocks access to object 5.


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
What object should be removed before grasping object 6?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
What is the top object that occludes object 1?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
To pick up object 3, which object is blocking it?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Which object must be removed first to grasp object 6?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Tell me the top-most object that blocks access to object 1.


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
I want to grasp object 3. What should I remove first?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Which object must be removed first to grasp object 4?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Tell me the top-most object that blocks access to object 5.


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
What object should be removed before grasping object 1?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Identify the object occluding object 1.


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Before I grasp object 5, what must be removed?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
I want to grasp object 3. What should I remove first?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Which object must be removed first to grasp object 5?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
To pick up object 6, which object is blocking it?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Tell me the top-most object that blocks access to object 3.


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
I want to grasp object 5. What should I remove first?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
What is the first object I need to grasp to reach object 6?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Identify the object occluding object 1.


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
What is the first object I need to grasp to reach object 3?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Before I grasp object 5, what must be removed?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
What is the first object I need to grasp to reach object 6?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Tell me the top-most object that blocks access to object 3.


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Tell me the top-most object that blocks access to object 6.


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Tell me the top-most object that blocks access to object 5.


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
What object should be removed before grasping object 1?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Which object must be removed first to grasp object 2?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
To pick up object 1, which object is blocking it?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Tell me the top-most object that blocks access to object 2.


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
To grasp object 1, which object is on top of it?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
What object should be removed before grasping object 2?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
What is the first object I need to grasp to reach object 1?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
To grasp object 2, which object is on top of it?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Which object must be removed first to grasp object 3?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Identify the object occluding object 4.


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
I want to grasp object 1. What should I remove first?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
What is the first object I need to grasp to reach object 4?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Tell me the top-most object that blocks access to object 5.


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
To grasp object 6, which object is on top of it?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
What is the top object that occludes object 7?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
What is the first object I need to grasp to reach object 1?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
What is the top object that occludes object 5?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Tell me the top-most object that blocks access to object 6.


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
To pick up object 1, which object is blocking it?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
What is the top object that occludes object 4?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Which object must be removed first to grasp object 5?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
What object should be removed before grasping object 6?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
What is the top object that occludes object 7?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Tell me the top-most object that blocks access to object 1.


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
To grasp object 3, which object is on top of it?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Which object must be removed first to grasp object 5?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Before I grasp object 1, what must be removed?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Identify the object occluding object 5.


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Before I grasp object 5, what must be removed?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
To grasp object 1, which object is on top of it?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Before I grasp object 3, what must be removed?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Tell me the top-most object that blocks access to object 4.


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
Identify the object occluding object 7.


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
I want to grasp object 2. What should I remove first?


[System]
You are an assistant for robotic grasp planning. When asked which object must be removed first to grasp a target:

- If the target is not occluded, output its own ID.
- If it has one occlusion path, reason step-by-step along that path, and describe each occlusion with its occlusion ratio and contact point if available.
- If multiple paths exist, reason for each path separately. In <answer>...</answer>, output all distinct top-most objects as a JSON list.

Use <think>...</think> for reasoning and <answer>...</answer> for final output.

[User]
<image>
To grasp object 5, which object is on top of it?