Source_Obj stringlengths 38 56 | Target_Obj stringlengths 38 56 | Thinking stringlengths 565 706 | Object stringlengths 142 293 | instruction stringlengths 41 76 | solution listlengths 6 6 | Conversation listlengths 2 2 |
|---|---|---|---|---|---|---|
[{"<|rose|><|triangular prism|>": ["<|6-7|>", 18]}] | [{"<|azure|><|triangular prism|>": ["<|15-4|>", 19]}] | LOCATE OBJECTS:
Target Object: <|rose|><|triangular prism|> found at <|6-7|> with height 18
Target Placement Location: <|azure|><|triangular prism|> at <|15-4|> with height 19
PLAN ACTIONS:
Step 1: Move above <|rose|><|triangular prism|> at <|6-7|> with height 30
Step 2: Lower to <|rose|><|triangular prism|> at <|6-7|>... | [{"red-moon": [30, 33, 17]}, {"azure-triangular prism": [19, 60, 19]}, {"black-cube": [23, 77, 17]}, {"red-cylinder": [69, 70, 17]}, {"green-moon": [34, 30, 17]}, {"olive-cube": [69, 33, 17]}, {"rose-triangular prism": [29, 25, 18]}] | Stack the rose triangular prism on top of the azure triangular prism | [
[
29,
25,
30,
0,
60,
90,
1
],
[
29,
25,
18,
0,
60,
90,
1
],
[
29,
25,
18,
0,
60,
90,
0
],
[
29,
25,
30,
0,
60,
90,
0
],
[
19,
60,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|navy|><|cylinder|>": ["<|11-10|>", 17]}] | [{"<|azure|><|container|>": ["<|14-15|>", 18]}] | LOCATE OBJECTS:
Target Object: <|navy|><|cylinder|> found at <|11-10|> with height 17
Target Placement Location: <|azure|><|container|> at <|14-15|> with height 18
PLAN ACTIONS:
Step 1: Move above <|navy|><|cylinder|> at <|11-10|> with height 30
Step 2: Lower to <|navy|><|cylinder|> at <|11-10|> with height 17
Step 3: ... | [{"azure-container": [61, 57, 18]}, {"purple-cylinder": [89, 66, 18]}, {"azure-triangular prism": [82, 39, 17]}, {"navy-cylinder": [41, 45, 17]}, {"yellow-cylinder": [33, 77, 18]}, {"azure-star": [35, 83, 18]}] | Pick up the navy cylinder and place it into the azure container | [
[
41,
45,
30,
0,
60,
90,
1
],
[
41,
45,
17,
0,
60,
90,
1
],
[
41,
45,
17,
0,
60,
90,
0
],
[
41,
45,
30,
0,
60,
90,
0
],
[
61,
57,
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60,
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],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|blue|><|cube|>": ["<|19-14|>", 17]}] | [{"<|silver|><|container|>": ["<|4-3|>", 17]}] | LOCATE OBJECTS:
Target Object: <|blue|><|cube|> found at <|19-14|> with height 17
Target Placement Location: <|silver|><|container|> at <|4-3|> with height 17
PLAN ACTIONS:
Step 1: Move above <|blue|><|cube|> at <|19-14|> with height 30
Step 2: Lower to <|blue|><|cube|> at <|19-14|> with height 17
Step 3: Close gripper... | [{"navy-cylinder": [70, 87, 17]}, {"blue-cube": [59, 77, 17]}, {"green-cylinder": [26, 48, 17]}, {"cyan-star": [69, 63, 17]}, {"silver-container": [12, 19, 17]}] | Pick up the blue cube and place it into the silver container | [
[
59,
77,
30,
0,
60,
90,
1
],
[
59,
77,
17,
0,
60,
90,
1
],
[
59,
77,
17,
0,
60,
90,
0
],
[
59,
77,
30,
0,
60,
90,
0
],
[
12,
19,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|lime|><|triangular prism|>": ["<|20-19|>", 18]}] | [{"<|teal|><|cube|>": ["<|6-5|>", 18]}] | LOCATE OBJECTS:
Target Object: <|lime|><|triangular prism|> found at <|20-19|> with height 18
Target Placement Location: <|teal|><|cube|> at <|6-5|> with height 18
PLAN ACTIONS:
Step 1: Move above <|lime|><|triangular prism|> at <|20-19|> with height 30
Step 2: Lower to <|lime|><|triangular prism|> at <|20-19|> with he... | [{"azure-cube": [63, 83, 18]}, {"teal-cube": [20, 26, 18]}, {"lime-triangular prism": [78, 82, 18]}, {"navy-cube": [45, 76, 17]}, {"silver-moon": [50, 25, 18]}] | Stack the lime triangular prism on top of the teal cube | [
[
78,
82,
30,
0,
60,
90,
1
],
[
78,
82,
18,
0,
60,
90,
1
],
[
78,
82,
18,
0,
60,
90,
0
],
[
78,
82,
30,
0,
60,
90,
0
],
[
20,
26,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|olive|><|star|>": ["<|11-15|>", 18]}] | [{"<|purple|><|container|>": ["<|9-9|>", 17]}] | LOCATE OBJECTS:
Target Object: <|olive|><|star|> found at <|11-15|> with height 18
Target Placement Location: <|purple|><|container|> at <|9-9|> with height 17
PLAN ACTIONS:
Step 1: Move above <|olive|><|star|> at <|11-15|> with height 30
Step 2: Lower to <|olive|><|star|> at <|11-15|> with height 18
Step 3: Close grip... | [{"white-triangular prism": [88, 28, 18]}, {"navy-cylinder": [45, 73, 18]}, {"silver-triangular prism": [54, 78, 18]}, {"olive-star": [62, 44, 18]}, {"purple-container": [37, 37, 17]}] | Pick up the olive star and place it into the purple container | [
[
62,
44,
30,
0,
60,
90,
1
],
[
62,
44,
18,
0,
60,
90,
1
],
[
62,
44,
18,
0,
60,
90,
0
],
[
62,
44,
30,
0,
60,
90,
0
],
[
37,
37,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|black|><|moon|>": ["<|6-9|>", 17]}] | [{"<|red|><|container|>": ["<|21-15|>", 19]}] | LOCATE OBJECTS:
Target Object: <|black|><|moon|> found at <|6-9|> with height 17
Target Placement Location: <|red|><|container|> at <|21-15|> with height 19
PLAN ACTIONS:
Step 1: Move above <|black|><|moon|> at <|6-9|> with height 30
Step 2: Lower to <|black|><|moon|> at <|6-9|> with height 17
Step 3: Close gripper on ... | [{"red-container": [63, 86, 19]}, {"black-moon": [39, 27, 17]}, {"magenta-triangular prism": [26, 20, 18]}, {"blue-star": [31, 45, 17]}, {"gray-cylinder": [70, 41, 17]}] | Pick up the black moon and place it into the red container | [
[
39,
27,
30,
0,
60,
90,
1
],
[
39,
27,
17,
0,
60,
90,
1
],
[
39,
27,
17,
0,
60,
90,
0
],
[
39,
27,
30,
0,
60,
90,
0
],
[
63,
86,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|rose|><|moon|>": ["<|20-5|>", 18]}] | [{"<|yellow|><|cylinder|>": ["<|9-7|>", 19]}] | LOCATE OBJECTS:
Target Object: <|rose|><|moon|> found at <|20-5|> with height 18
Target Placement Location: <|yellow|><|cylinder|> at <|9-7|> with height 19
PLAN ACTIONS:
Step 1: Move above <|rose|><|moon|> at <|20-5|> with height 30
Step 2: Lower to <|rose|><|moon|> at <|20-5|> with height 18
Step 3: Close gripper on ... | [{"yellow-cylinder": [30, 38, 19]}, {"azure-cylinder": [33, 88, 17]}, {"violet-moon": [62, 55, 17]}, {"maroon-star": [56, 77, 17]}, {"red-triangular prism": [76, 67, 17]}, {"rose-moon": [22, 80, 18]}, {"violet-triangular prism": [22, 57, 17]}] | Stack the rose moon on top of the yellow cylinder | [
[
22,
80,
30,
0,
60,
90,
1
],
[
22,
80,
18,
0,
60,
90,
1
],
[
22,
80,
18,
0,
60,
90,
0
],
[
22,
80,
30,
0,
60,
90,
0
],
[
30,
38,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|green|><|triangular prism|>": ["<|12-8|>", 18]}] | [{"<|blue|><|container|>": ["<|10-3|>", 17]}] | LOCATE OBJECTS:
Target Object: <|green|><|triangular prism|> found at <|12-8|> with height 18
Target Placement Location: <|blue|><|container|> at <|10-3|> with height 17
PLAN ACTIONS:
Step 1: Move above <|green|><|triangular prism|> at <|12-8|> with height 30
Step 2: Lower to <|green|><|triangular prism|> at <|12-8|> w... | [{"green-triangular prism": [35, 48, 18]}, {"magenta-star": [58, 40, 18]}, {"green-cube": [37, 83, 17]}, {"blue-container": [13, 41, 17]}, {"maroon-moon": [67, 85, 18]}] | Pick up the green triangular prism and place it into the blue container | [
[
35,
48,
30,
0,
60,
90,
1
],
[
35,
48,
18,
0,
60,
90,
1
],
[
35,
48,
18,
0,
60,
90,
0
],
[
35,
48,
30,
0,
60,
90,
0
],
[
13,
41,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|navy|><|triangular prism|>": ["<|15-13|>", 17]}] | [{"<|rose|><|container|>": ["<|21-19|>", 17]}] | LOCATE OBJECTS:
Target Object: <|navy|><|triangular prism|> found at <|15-13|> with height 17
Target Placement Location: <|rose|><|container|> at <|21-19|> with height 17
PLAN ACTIONS:
Step 1: Move above <|navy|><|triangular prism|> at <|15-13|> with height 30
Step 2: Lower to <|navy|><|triangular prism|> at <|15-13|> ... | [{"rose-container": [77, 84, 17]}, {"navy-triangular prism": [55, 63, 17]}, {"maroon-star": [44, 68, 18]}, {"silver-cylinder": [43, 47, 18]}, {"blue-cube": [87, 27, 18]}] | Pick up the navy triangular prism and place it into the rose container | [
[
55,
63,
30,
0,
60,
90,
1
],
[
55,
63,
17,
0,
60,
90,
1
],
[
55,
63,
17,
0,
60,
90,
0
],
[
55,
63,
30,
0,
60,
90,
0
],
[
77,
84,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|rose|><|star|>": ["<|12-10|>", 17]}] | [{"<|rose|><|triangular prism|>": ["<|20-9|>", 17]}] | LOCATE OBJECTS:
Target Object: <|rose|><|star|> found at <|12-10|> with height 17
Target Placement Location: <|rose|><|triangular prism|> at <|20-9|> with height 17
PLAN ACTIONS:
Step 1: Move above <|rose|><|star|> at <|12-10|> with height 30
Step 2: Lower to <|rose|><|star|> at <|12-10|> with height 17
Step 3: Close g... | [{"teal-cube": [43, 28, 17]}, {"rose-triangular prism": [36, 82, 17]}, {"rose-star": [40, 51, 17]}, {"white-star": [82, 84, 17]}, {"azure-cube": [71, 28, 17]}] | Stack the rose star on top of the rose triangular prism | [
[
40,
51,
30,
0,
60,
90,
1
],
[
40,
51,
17,
0,
60,
90,
1
],
[
40,
51,
17,
0,
60,
90,
0
],
[
40,
51,
30,
0,
60,
90,
0
],
[
36,
82,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|maroon|><|cube|>": ["<|17-11|>", 18]}] | [{"<|red|><|container|>": ["<|10-19|>", 18]}] | LOCATE OBJECTS:
Target Object: <|maroon|><|cube|> found at <|17-11|> with height 18
Target Placement Location: <|red|><|container|> at <|10-19|> with height 18
PLAN ACTIONS:
Step 1: Move above <|maroon|><|cube|> at <|17-11|> with height 30
Step 2: Lower to <|maroon|><|cube|> at <|17-11|> with height 18
Step 3: Close gr... | [{"teal-cylinder": [47, 43, 18]}, {"white-triangular prism": [53, 32, 18]}, {"maroon-triangular prism": [48, 78, 17]}, {"white-moon": [73, 74, 17]}, {"maroon-star": [51, 29, 18]}, {"red-container": [77, 42, 18]}, {"maroon-cube": [45, 71, 18]}] | Pick up the maroon cube and place it into the red container | [
[
45,
71,
30,
0,
60,
90,
1
],
[
45,
71,
18,
0,
60,
90,
1
],
[
45,
71,
18,
0,
60,
90,
0
],
[
45,
71,
30,
0,
60,
90,
0
],
[
77,
42,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|black|><|star|>": ["<|19-14|>", 18]}] | [{"<|rose|><|cylinder|>": ["<|18-9|>", 19]}] | LOCATE OBJECTS:
Target Object: <|black|><|star|> found at <|19-14|> with height 18
Target Placement Location: <|rose|><|cylinder|> at <|18-9|> with height 19
PLAN ACTIONS:
Step 1: Move above <|black|><|star|> at <|19-14|> with height 30
Step 2: Lower to <|black|><|star|> at <|19-14|> with height 18
Step 3: Close grippe... | [{"rose-cylinder": [36, 72, 19]}, {"blue-cylinder": [53, 63, 18]}, {"navy-cube": [41, 71, 18]}, {"green-triangular prism": [59, 71, 18]}, {"black-star": [57, 78, 18]}, {"maroon-cube": [67, 60, 18]}] | Stack the black star on top of the rose cylinder | [
[
57,
78,
30,
0,
60,
90,
1
],
[
57,
78,
18,
0,
60,
90,
1
],
[
57,
78,
18,
0,
60,
90,
0
],
[
57,
78,
30,
0,
60,
90,
0
],
[
36,
72,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|white|><|cube|>": ["<|19-10|>", 17]}] | [{"<|maroon|><|container|>": ["<|12-16|>", 18]}] | LOCATE OBJECTS:
Target Object: <|white|><|cube|> found at <|19-10|> with height 17
Target Placement Location: <|maroon|><|container|> at <|12-16|> with height 18
PLAN ACTIONS:
Step 1: Move above <|white|><|cube|> at <|19-10|> with height 30
Step 2: Lower to <|white|><|cube|> at <|19-10|> with height 17
Step 3: Close gr... | [{"maroon-container": [66, 49, 18]}, {"magenta-triangular prism": [29, 90, 17]}, {"olive-cylinder": [41, 73, 17]}, {"olive-triangular prism": [62, 85, 17]}, {"magenta-cube": [60, 80, 17]}, {"white-cube": [41, 76, 17]}, {"teal-cube": [72, 21, 17]}] | Pick up the white cube and place it into the maroon container | [
[
41,
76,
30,
0,
60,
90,
1
],
[
41,
76,
17,
0,
60,
90,
1
],
[
41,
76,
17,
0,
60,
90,
0
],
[
41,
76,
30,
0,
60,
90,
0
],
[
66,
49,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|purple|><|cube|>": ["<|13-9|>", 17]}] | [{"<|violet|><|cylinder|>": ["<|21-21|>", 17]}] | LOCATE OBJECTS:
Target Object: <|purple|><|cube|> found at <|13-9|> with height 17
Target Placement Location: <|violet|><|cylinder|> at <|21-21|> with height 17
PLAN ACTIONS:
Step 1: Move above <|purple|><|cube|> at <|13-9|> with height 30
Step 2: Lower to <|purple|><|cube|> at <|13-9|> with height 17
Step 3: Close gri... | [{"maroon-cylinder": [34, 69, 17]}, {"rose-triangular prism": [67, 84, 18]}, {"rose-star": [84, 79, 18]}, {"violet-cylinder": [85, 85, 17]}, {"green-star": [85, 75, 17]}, {"purple-cube": [37, 54, 17]}, {"navy-triangular prism": [71, 87, 18]}] | Stack the purple cube on top of the violet cylinder | [
[
37,
54,
30,
0,
60,
90,
1
],
[
37,
54,
17,
0,
60,
90,
1
],
[
37,
54,
17,
0,
60,
90,
0
],
[
37,
54,
30,
0,
60,
90,
0
],
[
85,
85,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|yellow|><|star|>": ["<|7-11|>", 17]}] | [{"<|red|><|container|>": ["<|5-10|>", 17]}] | LOCATE OBJECTS:
Target Object: <|yellow|><|star|> found at <|7-11|> with height 17
Target Placement Location: <|red|><|container|> at <|5-10|> with height 17
PLAN ACTIONS:
Step 1: Move above <|yellow|><|star|> at <|7-11|> with height 30
Step 2: Lower to <|yellow|><|star|> at <|7-11|> with height 17
Step 3: Close grippe... | [{"yellow-star": [47, 28, 17]}, {"blue-triangular prism": [67, 53, 18]}, {"red-container": [41, 20, 17]}, {"gray-cylinder": [81, 88, 18]}, {"cyan-cube": [28, 28, 18]}, {"rose-moon": [59, 54, 17]}, {"purple-moon": [70, 34, 18]}] | Pick up the yellow star and place it into the red container | [
[
47,
28,
30,
0,
60,
90,
1
],
[
47,
28,
17,
0,
60,
90,
1
],
[
47,
28,
17,
0,
60,
90,
0
],
[
47,
28,
30,
0,
60,
90,
0
],
[
41,
20,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|magenta|><|moon|>": ["<|19-18|>", 18]}] | [{"<|rose|><|container|>": ["<|12-6|>", 18]}] | LOCATE OBJECTS:
Target Object: <|magenta|><|moon|> found at <|19-18|> with height 18
Target Placement Location: <|rose|><|container|> at <|12-6|> with height 18
PLAN ACTIONS:
Step 1: Move above <|magenta|><|moon|> at <|19-18|> with height 30
Step 2: Lower to <|magenta|><|moon|> at <|19-18|> with height 18
Step 3: Close... | [{"magenta-moon": [73, 79, 18]}, {"rose-star": [31, 28, 18]}, {"rose-container": [26, 51, 18]}, {"blue-cube": [39, 30, 17]}, {"azure-moon": [50, 80, 17]}] | Pick up the magenta moon and place it into the rose container | [
[
73,
79,
30,
0,
60,
90,
1
],
[
73,
79,
18,
0,
60,
90,
1
],
[
73,
79,
18,
0,
60,
90,
0
],
[
73,
79,
30,
0,
60,
90,
0
],
[
26,
51,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|violet|><|star|>": ["<|14-14|>", 17]}] | [{"<|rose|><|container|>": ["<|15-16|>", 18]}] | LOCATE OBJECTS:
Target Object: <|violet|><|star|> found at <|14-14|> with height 17
Target Placement Location: <|rose|><|container|> at <|15-16|> with height 18
PLAN ACTIONS:
Step 1: Move above <|violet|><|star|> at <|14-14|> with height 30
Step 2: Lower to <|violet|><|star|> at <|14-14|> with height 17
Step 3: Close g... | [{"violet-star": [59, 57, 17]}, {"silver-cylinder": [63, 52, 17]}, {"black-cylinder": [62, 68, 17]}, {"rose-container": [66, 61, 18]}, {"magenta-cube": [57, 59, 18]}, {"lime-moon": [21, 86, 17]}] | Pick up the violet star and place it into the rose container | [
[
59,
57,
30,
0,
60,
90,
1
],
[
59,
57,
17,
0,
60,
90,
1
],
[
59,
57,
17,
0,
60,
90,
0
],
[
59,
57,
30,
0,
60,
90,
0
],
[
66,
61,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|azure|><|cube|>": ["<|9-8|>", 17]}] | [{"<|navy|><|triangular prism|>": ["<|4-10|>", 19]}] | LOCATE OBJECTS:
Target Object: <|azure|><|cube|> found at <|9-8|> with height 17
Target Placement Location: <|navy|><|triangular prism|> at <|4-10|> with height 19
PLAN ACTIONS:
Step 1: Move above <|azure|><|cube|> at <|9-8|> with height 30
Step 2: Lower to <|azure|><|cube|> at <|9-8|> with height 17
Step 3: Close grip... | [{"navy-triangular prism": [42, 17, 19]}, {"gray-cylinder": [71, 87, 17]}, {"silver-cylinder": [24, 54, 17]}, {"azure-cube": [33, 37, 17]}, {"olive-star": [28, 59, 18]}] | Stack the azure cube on top of the navy triangular prism | [
[
33,
37,
30,
0,
60,
90,
1
],
[
33,
37,
17,
0,
60,
90,
1
],
[
33,
37,
17,
0,
60,
90,
0
],
[
33,
37,
30,
0,
60,
90,
0
],
[
42,
17,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|black|><|moon|>": ["<|12-7|>", 18]}] | [{"<|olive|><|cube|>": ["<|12-18|>", 18]}] | LOCATE OBJECTS:
Target Object: <|black|><|moon|> found at <|12-7|> with height 18
Target Placement Location: <|olive|><|cube|> at <|12-18|> with height 18
PLAN ACTIONS:
Step 1: Move above <|black|><|moon|> at <|12-7|> with height 30
Step 2: Lower to <|black|><|moon|> at <|12-7|> with height 18
Step 3: Close gripper on ... | [{"magenta-triangular prism": [89, 64, 17]}, {"black-triangular prism": [52, 72, 17]}, {"olive-cube": [72, 51, 18]}, {"maroon-cube": [79, 47, 18]}, {"black-moon": [31, 49, 18]}, {"green-star": [86, 88, 18]}] | Stack the black moon on top of the olive cube | [
[
31,
49,
30,
0,
60,
90,
1
],
[
31,
49,
18,
0,
60,
90,
1
],
[
31,
49,
18,
0,
60,
90,
0
],
[
31,
49,
30,
0,
60,
90,
0
],
[
72,
51,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|black|><|star|>": ["<|11-6|>", 17]}] | [{"<|yellow|><|cube|>": ["<|22-10|>", 17]}] | LOCATE OBJECTS:
Target Object: <|black|><|star|> found at <|11-6|> with height 17
Target Placement Location: <|yellow|><|cube|> at <|22-10|> with height 17
PLAN ACTIONS:
Step 1: Move above <|black|><|star|> at <|11-6|> with height 30
Step 2: Lower to <|black|><|star|> at <|11-6|> with height 17
Step 3: Close gripper on... | [{"white-triangular prism": [63, 52, 17]}, {"yellow-cube": [41, 89, 17]}, {"silver-star": [50, 35, 17]}, {"navy-triangular prism": [71, 22, 17]}, {"black-star": [26, 45, 17]}, {"cyan-cylinder": [61, 62, 18]}, {"gray-moon": [43, 45, 17]}] | Stack the black star on top of the yellow cube | [
[
26,
45,
30,
0,
60,
90,
1
],
[
26,
45,
17,
0,
60,
90,
1
],
[
26,
45,
17,
0,
60,
90,
0
],
[
26,
45,
30,
0,
60,
90,
0
],
[
41,
89,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|azure|><|triangular prism|>": ["<|22-9|>", 17]}] | [{"<|navy|><|container|>": ["<|7-18|>", 19]}] | LOCATE OBJECTS:
Target Object: <|azure|><|triangular prism|> found at <|22-9|> with height 17
Target Placement Location: <|navy|><|container|> at <|7-18|> with height 19
PLAN ACTIONS:
Step 1: Move above <|azure|><|triangular prism|> at <|22-9|> with height 30
Step 2: Lower to <|azure|><|triangular prism|> at <|22-9|> w... | [{"blue-moon": [57, 42, 17]}, {"azure-triangular prism": [38, 89, 17]}, {"navy-container": [74, 29, 19]}, {"navy-triangular prism": [23, 56, 17]}, {"navy-cube": [49, 42, 18]}] | Pick up the azure triangular prism and place it into the navy container | [
[
38,
89,
30,
0,
60,
90,
1
],
[
38,
89,
17,
0,
60,
90,
1
],
[
38,
89,
17,
0,
60,
90,
0
],
[
38,
89,
30,
0,
60,
90,
0
],
[
74,
29,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|azure|><|moon|>": ["<|22-5|>", 18]}] | [{"<|cyan|><|container|>": ["<|8-16|>", 19]}] | LOCATE OBJECTS:
Target Object: <|azure|><|moon|> found at <|22-5|> with height 18
Target Placement Location: <|cyan|><|container|> at <|8-16|> with height 19
PLAN ACTIONS:
Step 1: Move above <|azure|><|moon|> at <|22-5|> with height 30
Step 2: Lower to <|azure|><|moon|> at <|22-5|> with height 18
Step 3: Close gripper ... | [{"azure-moon": [20, 90, 18]}, {"olive-moon": [23, 63, 18]}, {"gray-triangular prism": [53, 76, 17]}, {"cyan-container": [67, 33, 19]}, {"lime-triangular prism": [57, 50, 17]}, {"yellow-star": [76, 70, 18]}, {"black-cylinder": [44, 45, 18]}] | Pick up the azure moon and place it into the cyan container | [
[
20,
90,
30,
0,
60,
90,
1
],
[
20,
90,
18,
0,
60,
90,
1
],
[
20,
90,
18,
0,
60,
90,
0
],
[
20,
90,
30,
0,
60,
90,
0
],
[
67,
33,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|blue|><|cylinder|>": ["<|18-17|>", 18]}] | [{"<|yellow|><|star|>": ["<|13-11|>", 19]}] | LOCATE OBJECTS:
Target Object: <|blue|><|cylinder|> found at <|18-17|> with height 18
Target Placement Location: <|yellow|><|star|> at <|13-11|> with height 19
PLAN ACTIONS:
Step 1: Move above <|blue|><|cylinder|> at <|18-17|> with height 30
Step 2: Lower to <|blue|><|cylinder|> at <|18-17|> with height 18
Step 3: Clos... | [{"white-cube": [50, 51, 17]}, {"yellow-star": [46, 55, 19]}, {"gray-moon": [61, 45, 17]}, {"blue-cylinder": [71, 73, 18]}, {"violet-moon": [60, 79, 18]}] | Stack the blue cylinder on top of the yellow star | [
[
71,
73,
30,
0,
60,
90,
1
],
[
71,
73,
18,
0,
60,
90,
1
],
[
71,
73,
18,
0,
60,
90,
0
],
[
71,
73,
30,
0,
60,
90,
0
],
[
46,
55,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|red|><|triangular prism|>": ["<|6-18|>", 18]}] | [{"<|maroon|><|cylinder|>": ["<|5-10|>", 18]}] | LOCATE OBJECTS:
Target Object: <|red|><|triangular prism|> found at <|6-18|> with height 18
Target Placement Location: <|maroon|><|cylinder|> at <|5-10|> with height 18
PLAN ACTIONS:
Step 1: Move above <|red|><|triangular prism|> at <|6-18|> with height 30
Step 2: Lower to <|red|><|triangular prism|> at <|6-18|> with h... | [{"maroon-cylinder": [42, 21, 18]}, {"red-triangular prism": [73, 26, 18]}, {"purple-cylinder": [32, 33, 17]}, {"lime-star": [63, 57, 17]}, {"green-cube": [22, 53, 17]}, {"olive-moon": [62, 23, 17]}, {"black-moon": [31, 67, 17]}] | Stack the red triangular prism on top of the maroon cylinder | [
[
73,
26,
30,
0,
60,
90,
1
],
[
73,
26,
18,
0,
60,
90,
1
],
[
73,
26,
18,
0,
60,
90,
0
],
[
73,
26,
30,
0,
60,
90,
0
],
[
42,
21,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|green|><|cube|>": ["<|20-16|>", 17]}] | [{"<|black|><|container|>": ["<|16-9|>", 18]}] | LOCATE OBJECTS:
Target Object: <|green|><|cube|> found at <|20-16|> with height 17
Target Placement Location: <|black|><|container|> at <|16-9|> with height 18
PLAN ACTIONS:
Step 1: Move above <|green|><|cube|> at <|20-16|> with height 30
Step 2: Lower to <|green|><|cube|> at <|20-16|> with height 17
Step 3: Close grip... | [{"white-cylinder": [42, 23, 18]}, {"black-container": [37, 64, 18]}, {"lime-moon": [22, 47, 18]}, {"yellow-cylinder": [36, 50, 18]}, {"green-cube": [65, 82, 17]}] | Pick up the green cube and place it into the black container | [
[
65,
82,
30,
0,
60,
90,
1
],
[
65,
82,
17,
0,
60,
90,
1
],
[
65,
82,
17,
0,
60,
90,
0
],
[
65,
82,
30,
0,
60,
90,
0
],
[
37,
64,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|silver|><|star|>": ["<|17-20|>", 17]}] | [{"<|violet|><|container|>": ["<|22-17|>", 18]}] | LOCATE OBJECTS:
Target Object: <|silver|><|star|> found at <|17-20|> with height 17
Target Placement Location: <|violet|><|container|> at <|22-17|> with height 18
PLAN ACTIONS:
Step 1: Move above <|silver|><|star|> at <|17-20|> with height 30
Step 2: Lower to <|silver|><|star|> at <|17-20|> with height 17
Step 3: Close... | [{"lime-cube": [31, 36, 18]}, {"violet-container": [70, 90, 18]}, {"silver-star": [82, 69, 17]}, {"azure-cube": [77, 33, 18]}, {"olive-moon": [64, 57, 18]}, {"lime-moon": [30, 30, 17]}] | Pick up the silver star and place it into the violet container | [
[
82,
69,
30,
0,
60,
90,
1
],
[
82,
69,
17,
0,
60,
90,
1
],
[
82,
69,
17,
0,
60,
90,
0
],
[
82,
69,
30,
0,
60,
90,
0
],
[
70,
90,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|teal|><|moon|>": ["<|11-7|>", 18]}] | [{"<|lime|><|moon|>": ["<|19-11|>", 19]}] | LOCATE OBJECTS:
Target Object: <|teal|><|moon|> found at <|11-7|> with height 18
Target Placement Location: <|lime|><|moon|> at <|19-11|> with height 19
PLAN ACTIONS:
Step 1: Move above <|teal|><|moon|> at <|11-7|> with height 30
Step 2: Lower to <|teal|><|moon|> at <|11-7|> with height 18
Step 3: Close gripper on <|te... | [{"teal-moon": [28, 46, 18]}, {"lime-cube": [42, 22, 18]}, {"yellow-moon": [25, 30, 18]}, {"lime-moon": [45, 76, 19]}, {"teal-cylinder": [70, 49, 18]}, {"green-cylinder": [65, 66, 18]}, {"violet-moon": [46, 28, 18]}] | Stack the teal moon on top of the lime moon | [
[
28,
46,
30,
0,
60,
90,
1
],
[
28,
46,
18,
0,
60,
90,
1
],
[
28,
46,
18,
0,
60,
90,
0
],
[
28,
46,
30,
0,
60,
90,
0
],
[
45,
76,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|yellow|><|star|>": ["<|14-7|>", 17]}] | [{"<|maroon|><|container|>": ["<|9-13|>", 19]}] | LOCATE OBJECTS:
Target Object: <|yellow|><|star|> found at <|14-7|> with height 17
Target Placement Location: <|maroon|><|container|> at <|9-13|> with height 19
PLAN ACTIONS:
Step 1: Move above <|yellow|><|star|> at <|14-7|> with height 30
Step 2: Lower to <|yellow|><|star|> at <|14-7|> with height 17
Step 3: Close gri... | [{"blue-star": [66, 43, 18]}, {"yellow-star": [28, 59, 17]}, {"navy-cylinder": [88, 44, 17]}, {"green-cube": [69, 51, 17]}, {"maroon-container": [52, 37, 19]}] | Pick up the yellow star and place it into the maroon container | [
[
28,
59,
30,
0,
60,
90,
1
],
[
28,
59,
17,
0,
60,
90,
1
],
[
28,
59,
17,
0,
60,
90,
0
],
[
28,
59,
30,
0,
60,
90,
0
],
[
52,
37,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|olive|><|cylinder|>": ["<|15-16|>", 18]}] | [{"<|navy|><|container|>": ["<|9-14|>", 19]}] | LOCATE OBJECTS:
Target Object: <|olive|><|cylinder|> found at <|15-16|> with height 18
Target Placement Location: <|navy|><|container|> at <|9-14|> with height 19
PLAN ACTIONS:
Step 1: Move above <|olive|><|cylinder|> at <|15-16|> with height 30
Step 2: Lower to <|olive|><|cylinder|> at <|15-16|> with height 18
Step 3:... | [{"purple-cube": [31, 64, 18]}, {"violet-cube": [64, 88, 17]}, {"olive-moon": [60, 26, 17]}, {"navy-container": [58, 37, 19]}, {"purple-cylinder": [70, 57, 18]}, {"olive-cylinder": [67, 63, 18]}, {"red-moon": [37, 21, 18]}] | Pick up the olive cylinder and place it into the navy container | [
[
67,
63,
30,
0,
60,
90,
1
],
[
67,
63,
18,
0,
60,
90,
1
],
[
67,
63,
18,
0,
60,
90,
0
],
[
67,
63,
30,
0,
60,
90,
0
],
[
58,
37,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|white|><|moon|>": ["<|18-13|>", 17]}] | [{"<|rose|><|star|>": ["<|9-21|>", 19]}] | LOCATE OBJECTS:
Target Object: <|white|><|moon|> found at <|18-13|> with height 17
Target Placement Location: <|rose|><|star|> at <|9-21|> with height 19
PLAN ACTIONS:
Step 1: Move above <|white|><|moon|> at <|18-13|> with height 30
Step 2: Lower to <|white|><|moon|> at <|18-13|> with height 17
Step 3: Close gripper on... | [{"lime-cube": [66, 26, 17]}, {"gray-triangular prism": [52, 47, 17]}, {"rose-star": [85, 38, 19]}, {"white-moon": [52, 75, 17]}, {"teal-cylinder": [81, 39, 18]}, {"navy-star": [67, 74, 17]}] | Stack the white moon on top of the rose star | [
[
52,
75,
30,
0,
60,
90,
1
],
[
52,
75,
17,
0,
60,
90,
1
],
[
52,
75,
17,
0,
60,
90,
0
],
[
52,
75,
30,
0,
60,
90,
0
],
[
85,
38,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|yellow|><|star|>": ["<|10-9|>", 17]}] | [{"<|white|><|container|>": ["<|7-3|>", 19]}] | LOCATE OBJECTS:
Target Object: <|yellow|><|star|> found at <|10-9|> with height 17
Target Placement Location: <|white|><|container|> at <|7-3|> with height 19
PLAN ACTIONS:
Step 1: Move above <|yellow|><|star|> at <|10-9|> with height 30
Step 2: Lower to <|yellow|><|star|> at <|10-9|> with height 17
Step 3: Close gripp... | [{"azure-cube": [85, 69, 17]}, {"silver-moon": [80, 75, 18]}, {"white-container": [15, 31, 19]}, {"yellow-star": [37, 43, 17]}, {"black-moon": [72, 57, 18]}, {"maroon-star": [54, 43, 18]}] | Pick up the yellow star and place it into the white container | [
[
37,
43,
30,
0,
60,
90,
1
],
[
37,
43,
17,
0,
60,
90,
1
],
[
37,
43,
17,
0,
60,
90,
0
],
[
37,
43,
30,
0,
60,
90,
0
],
[
15,
31,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|black|><|triangular prism|>": ["<|11-22|>", 17]}] | [{"<|purple|><|cylinder|>": ["<|5-4|>", 17]}] | LOCATE OBJECTS:
Target Object: <|black|><|triangular prism|> found at <|11-22|> with height 17
Target Placement Location: <|purple|><|cylinder|> at <|5-4|> with height 17
PLAN ACTIONS:
Step 1: Move above <|black|><|triangular prism|> at <|11-22|> with height 30
Step 2: Lower to <|black|><|triangular prism|> at <|11-22|... | [{"purple-cylinder": [16, 20, 17]}, {"black-triangular prism": [90, 46, 17]}, {"white-cube": [26, 73, 18]}, {"blue-star": [43, 76, 17]}, {"green-moon": [79, 68, 17]}, {"silver-triangular prism": [47, 40, 17]}] | Stack the black triangular prism on top of the purple cylinder | [
[
90,
46,
30,
0,
60,
90,
1
],
[
90,
46,
17,
0,
60,
90,
1
],
[
90,
46,
17,
0,
60,
90,
0
],
[
90,
46,
30,
0,
60,
90,
0
],
[
16,
20,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|rose|><|moon|>": ["<|6-8|>", 18]}] | [{"<|blue|><|container|>": ["<|16-9|>", 18]}] | LOCATE OBJECTS:
Target Object: <|rose|><|moon|> found at <|6-8|> with height 18
Target Placement Location: <|blue|><|container|> at <|16-9|> with height 18
PLAN ACTIONS:
Step 1: Move above <|rose|><|moon|> at <|6-8|> with height 30
Step 2: Lower to <|rose|><|moon|> at <|6-8|> with height 18
Step 3: Close gripper on <|r... | [{"olive-cylinder": [83, 45, 17]}, {"blue-container": [36, 67, 18]}, {"rose-moon": [32, 25, 18]}, {"azure-moon": [56, 50, 18]}, {"teal-star": [27, 49, 17]}, {"violet-cube": [68, 77, 18]}, {"teal-cube": [48, 32, 17]}] | Pick up the rose moon and place it into the blue container | [
[
32,
25,
30,
0,
60,
90,
1
],
[
32,
25,
18,
0,
60,
90,
1
],
[
32,
25,
18,
0,
60,
90,
0
],
[
32,
25,
30,
0,
60,
90,
0
],
[
36,
67,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|magenta|><|triangular prism|>": ["<|20-14|>", 18]}] | [{"<|magenta|><|container|>": ["<|22-21|>", 18]}] | LOCATE OBJECTS:
Target Object: <|magenta|><|triangular prism|> found at <|20-14|> with height 18
Target Placement Location: <|magenta|><|container|> at <|22-21|> with height 18
PLAN ACTIONS:
Step 1: Move above <|magenta|><|triangular prism|> at <|20-14|> with height 30
Step 2: Lower to <|magenta|><|triangular prism|> a... | [{"rose-star": [66, 67, 18]}, {"magenta-triangular prism": [58, 82, 18]}, {"magenta-container": [85, 88, 18]}, {"yellow-cylinder": [32, 78, 18]}, {"green-cylinder": [73, 38, 18]}, {"olive-cylinder": [90, 25, 17]}, {"black-cylinder": [39, 23, 18]}] | Pick up the magenta triangular prism and place it into the magenta container | [
[
58,
82,
30,
0,
60,
90,
1
],
[
58,
82,
18,
0,
60,
90,
1
],
[
58,
82,
18,
0,
60,
90,
0
],
[
58,
82,
30,
0,
60,
90,
0
],
[
85,
88,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|maroon|><|star|>": ["<|16-20|>", 17]}] | [{"<|lime|><|container|>": ["<|13-9|>", 19]}] | LOCATE OBJECTS:
Target Object: <|maroon|><|star|> found at <|16-20|> with height 17
Target Placement Location: <|lime|><|container|> at <|13-9|> with height 19
PLAN ACTIONS:
Step 1: Move above <|maroon|><|star|> at <|16-20|> with height 30
Step 2: Lower to <|maroon|><|star|> at <|16-20|> with height 17
Step 3: Close gr... | [{"white-cylinder": [88, 43, 18]}, {"black-triangular prism": [79, 50, 18]}, {"magenta-cylinder": [28, 45, 17]}, {"navy-cube": [46, 70, 17]}, {"lime-container": [38, 54, 19]}, {"maroon-star": [83, 64, 17]}] | Pick up the maroon star and place it into the lime container | [
[
83,
64,
30,
0,
60,
90,
1
],
[
83,
64,
17,
0,
60,
90,
1
],
[
83,
64,
17,
0,
60,
90,
0
],
[
83,
64,
30,
0,
60,
90,
0
],
[
38,
54,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|lime|><|triangular prism|>": ["<|20-20|>", 17]}] | [{"<|maroon|><|moon|>": ["<|11-3|>", 18]}] | LOCATE OBJECTS:
Target Object: <|lime|><|triangular prism|> found at <|20-20|> with height 17
Target Placement Location: <|maroon|><|moon|> at <|11-3|> with height 18
PLAN ACTIONS:
Step 1: Move above <|lime|><|triangular prism|> at <|20-20|> with height 30
Step 2: Lower to <|lime|><|triangular prism|> at <|20-20|> with... | [{"white-cube": [49, 89, 18]}, {"lime-triangular prism": [83, 82, 17]}, {"magenta-star": [58, 63, 18]}, {"maroon-moon": [13, 46, 18]}, {"blue-star": [58, 48, 18]}] | Stack the lime triangular prism on top of the maroon moon | [
[
83,
82,
30,
0,
60,
90,
1
],
[
83,
82,
17,
0,
60,
90,
1
],
[
83,
82,
17,
0,
60,
90,
0
],
[
83,
82,
30,
0,
60,
90,
0
],
[
13,
46,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|lime|><|star|>": ["<|18-18|>", 18]}] | [{"<|black|><|container|>": ["<|22-6|>", 18]}] | LOCATE OBJECTS:
Target Object: <|lime|><|star|> found at <|18-18|> with height 18
Target Placement Location: <|black|><|container|> at <|22-6|> with height 18
PLAN ACTIONS:
Step 1: Move above <|lime|><|star|> at <|18-18|> with height 30
Step 2: Lower to <|lime|><|star|> at <|18-18|> with height 18
Step 3: Close gripper... | [{"green-cube": [29, 71, 18]}, {"black-triangular prism": [61, 51, 17]}, {"olive-star": [40, 23, 18]}, {"azure-star": [66, 61, 17]}, {"black-container": [27, 88, 18]}, {"purple-cube": [79, 75, 17]}, {"lime-star": [72, 73, 18]}] | Pick up the lime star and place it into the black container | [
[
72,
73,
30,
0,
60,
90,
1
],
[
72,
73,
18,
0,
60,
90,
1
],
[
72,
73,
18,
0,
60,
90,
0
],
[
72,
73,
30,
0,
60,
90,
0
],
[
27,
88,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|blue|><|star|>": ["<|15-18|>", 17]}] | [{"<|rose|><|cylinder|>": ["<|7-14|>", 17]}] | LOCATE OBJECTS:
Target Object: <|blue|><|star|> found at <|15-18|> with height 17
Target Placement Location: <|rose|><|cylinder|> at <|7-14|> with height 17
PLAN ACTIONS:
Step 1: Move above <|blue|><|star|> at <|15-18|> with height 30
Step 2: Lower to <|blue|><|star|> at <|15-18|> with height 17
Step 3: Close gripper o... | [{"rose-cylinder": [58, 31, 17]}, {"blue-triangular prism": [73, 34, 18]}, {"red-cube": [35, 76, 17]}, {"blue-star": [74, 63, 17]}, {"rose-triangular prism": [74, 50, 18]}, {"azure-star": [30, 57, 18]}] | Stack the blue star on top of the rose cylinder | [
[
74,
63,
30,
0,
60,
90,
1
],
[
74,
63,
17,
0,
60,
90,
1
],
[
74,
63,
17,
0,
60,
90,
0
],
[
74,
63,
30,
0,
60,
90,
0
],
[
58,
31,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|lime|><|cube|>": ["<|20-5|>", 17]}] | [{"<|teal|><|container|>": ["<|6-17|>", 19]}] | LOCATE OBJECTS:
Target Object: <|lime|><|cube|> found at <|20-5|> with height 17
Target Placement Location: <|teal|><|container|> at <|6-17|> with height 19
PLAN ACTIONS:
Step 1: Move above <|lime|><|cube|> at <|20-5|> with height 30
Step 2: Lower to <|lime|><|cube|> at <|20-5|> with height 17
Step 3: Close gripper on ... | [{"navy-cube": [64, 24, 18]}, {"silver-star": [89, 50, 18]}, {"teal-container": [71, 25, 19]}, {"lime-moon": [56, 89, 18]}, {"cyan-cube": [74, 22, 18]}, {"lime-cube": [20, 80, 17]}] | Pick up the lime cube and place it into the teal container | [
[
20,
80,
30,
0,
60,
90,
1
],
[
20,
80,
17,
0,
60,
90,
1
],
[
20,
80,
17,
0,
60,
90,
0
],
[
20,
80,
30,
0,
60,
90,
0
],
[
71,
25,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|magenta|><|moon|>": ["<|18-13|>", 17]}] | [{"<|white|><|container|>": ["<|7-21|>", 19]}] | LOCATE OBJECTS:
Target Object: <|magenta|><|moon|> found at <|18-13|> with height 17
Target Placement Location: <|white|><|container|> at <|7-21|> with height 19
PLAN ACTIONS:
Step 1: Move above <|magenta|><|moon|> at <|18-13|> with height 30
Step 2: Lower to <|magenta|><|moon|> at <|18-13|> with height 17
Step 3: Clos... | [{"azure-cylinder": [62, 38, 17]}, {"yellow-cylinder": [45, 73, 17]}, {"cyan-moon": [20, 32, 18]}, {"white-container": [87, 31, 19]}, {"magenta-moon": [52, 73, 17]}, {"red-cylinder": [83, 32, 18]}, {"navy-moon": [25, 28, 18]}] | Pick up the magenta moon and place it into the white container | [
[
52,
73,
30,
0,
60,
90,
1
],
[
52,
73,
17,
0,
60,
90,
1
],
[
52,
73,
17,
0,
60,
90,
0
],
[
52,
73,
30,
0,
60,
90,
0
],
[
87,
31,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|azure|><|moon|>": ["<|17-8|>", 17]}] | [{"<|yellow|><|moon|>": ["<|3-4|>", 19]}] | LOCATE OBJECTS:
Target Object: <|azure|><|moon|> found at <|17-8|> with height 17
Target Placement Location: <|yellow|><|moon|> at <|3-4|> with height 19
PLAN ACTIONS:
Step 1: Move above <|azure|><|moon|> at <|17-8|> with height 30
Step 2: Lower to <|azure|><|moon|> at <|17-8|> with height 17
Step 3: Close gripper on <... | [{"olive-moon": [50, 73, 17]}, {"red-cube": [42, 26, 17]}, {"purple-triangular prism": [70, 73, 17]}, {"azure-moon": [35, 71, 17]}, {"rose-star": [83, 47, 18]}, {"cyan-triangular prism": [36, 42, 17]}, {"yellow-moon": [16, 12, 19]}] | Stack the azure moon on top of the yellow moon | [
[
35,
71,
30,
0,
60,
90,
1
],
[
35,
71,
17,
0,
60,
90,
1
],
[
35,
71,
17,
0,
60,
90,
0
],
[
35,
71,
30,
0,
60,
90,
0
],
[
16,
12,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|lime|><|moon|>": ["<|20-13|>", 17]}] | [{"<|cyan|><|cube|>": ["<|21-5|>", 18]}] | LOCATE OBJECTS:
Target Object: <|lime|><|moon|> found at <|20-13|> with height 17
Target Placement Location: <|cyan|><|cube|> at <|21-5|> with height 18
PLAN ACTIONS:
Step 1: Move above <|lime|><|moon|> at <|20-13|> with height 30
Step 2: Lower to <|lime|><|moon|> at <|20-13|> with height 17
Step 3: Close gripper on <|... | [{"black-cube": [53, 70, 17]}, {"lime-triangular prism": [69, 30, 18]}, {"cyan-cube": [21, 85, 18]}, {"violet-cube": [42, 57, 18]}, {"lime-moon": [53, 82, 17]}, {"magenta-moon": [57, 52, 18]}, {"azure-moon": [39, 30, 18]}] | Stack the lime moon on top of the cyan cube | [
[
53,
82,
30,
0,
60,
90,
1
],
[
53,
82,
17,
0,
60,
90,
1
],
[
53,
82,
17,
0,
60,
90,
0
],
[
53,
82,
30,
0,
60,
90,
0
],
[
21,
85,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|magenta|><|triangular prism|>": ["<|6-19|>", 17]}] | [{"<|navy|><|container|>": ["<|22-13|>", 17]}] | LOCATE OBJECTS:
Target Object: <|magenta|><|triangular prism|> found at <|6-19|> with height 17
Target Placement Location: <|navy|><|container|> at <|22-13|> with height 17
PLAN ACTIONS:
Step 1: Move above <|magenta|><|triangular prism|> at <|6-19|> with height 30
Step 2: Lower to <|magenta|><|triangular prism|> at <|6... | [{"black-star": [60, 26, 18]}, {"navy-container": [52, 90, 17]}, {"purple-cube": [36, 61, 17]}, {"red-triangular prism": [78, 36, 17]}, {"magenta-triangular prism": [78, 26, 17]}] | Pick up the magenta triangular prism and place it into the navy container | [
[
78,
26,
30,
0,
60,
90,
1
],
[
78,
26,
17,
0,
60,
90,
1
],
[
78,
26,
17,
0,
60,
90,
0
],
[
78,
26,
30,
0,
60,
90,
0
],
[
52,
90,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|rose|><|cylinder|>": ["<|21-20|>", 18]}] | [{"<|white|><|container|>": ["<|20-17|>", 19]}] | LOCATE OBJECTS:
Target Object: <|rose|><|cylinder|> found at <|21-20|> with height 18
Target Placement Location: <|white|><|container|> at <|20-17|> with height 19
PLAN ACTIONS:
Step 1: Move above <|rose|><|cylinder|> at <|21-20|> with height 30
Step 2: Lower to <|rose|><|cylinder|> at <|21-20|> with height 18
Step 3: ... | [{"azure-star": [41, 58, 17]}, {"rose-cylinder": [80, 85, 18]}, {"rose-triangular prism": [30, 65, 17]}, {"purple-moon": [80, 77, 17]}, {"white-container": [70, 82, 19]}] | Pick up the rose cylinder and place it into the white container | [
[
80,
85,
30,
0,
60,
90,
1
],
[
80,
85,
18,
0,
60,
90,
1
],
[
80,
85,
18,
0,
60,
90,
0
],
[
80,
85,
30,
0,
60,
90,
0
],
[
70,
82,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|olive|><|moon|>": ["<|17-15|>", 17]}] | [{"<|black|><|moon|>": ["<|21-6|>", 17]}] | LOCATE OBJECTS:
Target Object: <|olive|><|moon|> found at <|17-15|> with height 17
Target Placement Location: <|black|><|moon|> at <|21-6|> with height 17
PLAN ACTIONS:
Step 1: Move above <|olive|><|moon|> at <|17-15|> with height 30
Step 2: Lower to <|olive|><|moon|> at <|17-15|> with height 17
Step 3: Close gripper o... | [{"olive-moon": [63, 69, 17]}, {"olive-triangular prism": [66, 44, 18]}, {"olive-star": [80, 31, 17]}, {"black-moon": [25, 85, 17]}, {"purple-moon": [58, 43, 18]}] | Stack the olive moon on top of the black moon | [
[
63,
69,
30,
0,
60,
90,
1
],
[
63,
69,
17,
0,
60,
90,
1
],
[
63,
69,
17,
0,
60,
90,
0
],
[
63,
69,
30,
0,
60,
90,
0
],
[
25,
85,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|cyan|><|cube|>": ["<|13-21|>", 17]}] | [{"<|black|><|cube|>": ["<|7-7|>", 18]}] | LOCATE OBJECTS:
Target Object: <|cyan|><|cube|> found at <|13-21|> with height 17
Target Placement Location: <|black|><|cube|> at <|7-7|> with height 18
PLAN ACTIONS:
Step 1: Move above <|cyan|><|cube|> at <|13-21|> with height 30
Step 2: Lower to <|cyan|><|cube|> at <|13-21|> with height 17
Step 3: Close gripper on <|... | [{"cyan-triangular prism": [83, 44, 17]}, {"magenta-triangular prism": [21, 76, 17]}, {"blue-triangular prism": [51, 53, 18]}, {"violet-star": [54, 72, 18]}, {"cyan-cube": [84, 53, 17]}, {"black-cube": [29, 30, 18]}, {"lime-star": [79, 75, 18]}] | Stack the cyan cube on top of the black cube | [
[
84,
53,
30,
0,
60,
90,
1
],
[
84,
53,
17,
0,
60,
90,
1
],
[
84,
53,
17,
0,
60,
90,
0
],
[
84,
53,
30,
0,
60,
90,
0
],
[
29,
30,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|teal|><|cylinder|>": ["<|9-7|>", 18]}] | [{"<|maroon|><|container|>": ["<|6-10|>", 19]}] | LOCATE OBJECTS:
Target Object: <|teal|><|cylinder|> found at <|9-7|> with height 18
Target Placement Location: <|maroon|><|container|> at <|6-10|> with height 19
PLAN ACTIONS:
Step 1: Move above <|teal|><|cylinder|> at <|9-7|> with height 30
Step 2: Lower to <|teal|><|cylinder|> at <|9-7|> with height 18
Step 3: Close ... | [{"teal-cylinder": [30, 37, 18]}, {"maroon-container": [42, 27, 19]}, {"magenta-triangular prism": [37, 57, 18]}, {"cyan-star": [38, 22, 17]}, {"teal-moon": [66, 65, 18]}, {"navy-cylinder": [85, 34, 18]}] | Pick up the teal cylinder and place it into the maroon container | [
[
30,
37,
30,
0,
60,
90,
1
],
[
30,
37,
18,
0,
60,
90,
1
],
[
30,
37,
18,
0,
60,
90,
0
],
[
30,
37,
30,
0,
60,
90,
0
],
[
42,
27,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|teal|><|cube|>": ["<|16-16|>", 18]}] | [{"<|black|><|triangular prism|>": ["<|6-21|>", 17]}] | LOCATE OBJECTS:
Target Object: <|teal|><|cube|> found at <|16-16|> with height 18
Target Placement Location: <|black|><|triangular prism|> at <|6-21|> with height 17
PLAN ACTIONS:
Step 1: Move above <|teal|><|cube|> at <|16-16|> with height 30
Step 2: Lower to <|teal|><|cube|> at <|16-16|> with height 18
Step 3: Close ... | [{"blue-cube": [84, 27, 18]}, {"maroon-moon": [75, 20, 18]}, {"teal-cube": [64, 66, 18]}, {"gray-moon": [36, 76, 18]}, {"black-triangular prism": [86, 25, 17]}, {"azure-triangular prism": [73, 32, 18]}] | Stack the teal cube on top of the black triangular prism | [
[
64,
66,
30,
0,
60,
90,
1
],
[
64,
66,
18,
0,
60,
90,
1
],
[
64,
66,
18,
0,
60,
90,
0
],
[
64,
66,
30,
0,
60,
90,
0
],
[
86,
25,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|red|><|star|>": ["<|16-18|>", 18]}] | [{"<|navy|><|cylinder|>": ["<|15-11|>", 17]}] | LOCATE OBJECTS:
Target Object: <|red|><|star|> found at <|16-18|> with height 18
Target Placement Location: <|navy|><|cylinder|> at <|15-11|> with height 17
PLAN ACTIONS:
Step 1: Move above <|red|><|star|> at <|16-18|> with height 30
Step 2: Lower to <|red|><|star|> at <|16-18|> with height 18
Step 3: Close gripper on ... | [{"red-star": [75, 64, 18]}, {"silver-triangular prism": [76, 39, 18]}, {"magenta-cube": [82, 59, 18]}, {"navy-cylinder": [46, 62, 17]}, {"maroon-moon": [21, 84, 18]}] | Stack the red star on top of the navy cylinder | [
[
75,
64,
30,
0,
60,
90,
1
],
[
75,
64,
18,
0,
60,
90,
1
],
[
75,
64,
18,
0,
60,
90,
0
],
[
75,
64,
30,
0,
60,
90,
0
],
[
46,
62,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|lime|><|star|>": ["<|13-10|>", 17]}] | [{"<|yellow|><|container|>": ["<|14-21|>", 17]}] | LOCATE OBJECTS:
Target Object: <|lime|><|star|> found at <|13-10|> with height 17
Target Placement Location: <|yellow|><|container|> at <|14-21|> with height 17
PLAN ACTIONS:
Step 1: Move above <|lime|><|star|> at <|13-10|> with height 30
Step 2: Lower to <|lime|><|star|> at <|13-10|> with height 17
Step 3: Close gripp... | [{"azure-star": [21, 25, 18]}, {"blue-cube": [58, 21, 18]}, {"yellow-container": [87, 57, 17]}, {"magenta-star": [65, 39, 18]}, {"white-triangular prism": [22, 73, 18]}, {"silver-cube": [35, 90, 18]}, {"lime-star": [42, 55, 17]}] | Pick up the lime star and place it into the yellow container | [
[
42,
55,
30,
0,
60,
90,
1
],
[
42,
55,
17,
0,
60,
90,
1
],
[
42,
55,
17,
0,
60,
90,
0
],
[
42,
55,
30,
0,
60,
90,
0
],
[
87,
57,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|teal|><|moon|>": ["<|11-21|>", 18]}] | [{"<|cyan|><|container|>": ["<|3-8|>", 19]}] | LOCATE OBJECTS:
Target Object: <|teal|><|moon|> found at <|11-21|> with height 18
Target Placement Location: <|cyan|><|container|> at <|3-8|> with height 19
PLAN ACTIONS:
Step 1: Move above <|teal|><|moon|> at <|11-21|> with height 30
Step 2: Lower to <|teal|><|moon|> at <|11-21|> with height 18
Step 3: Close gripper o... | [{"magenta-moon": [49, 89, 17]}, {"teal-moon": [86, 44, 18]}, {"purple-cube": [59, 41, 17]}, {"yellow-star": [52, 52, 18]}, {"red-cylinder": [81, 75, 17]}, {"cyan-container": [35, 14, 19]}] | Pick up the teal moon and place it into the cyan container | [
[
86,
44,
30,
0,
60,
90,
1
],
[
86,
44,
18,
0,
60,
90,
1
],
[
86,
44,
18,
0,
60,
90,
0
],
[
86,
44,
30,
0,
60,
90,
0
],
[
35,
14,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|magenta|><|cube|>": ["<|15-8|>", 17]}] | [{"<|magenta|><|triangular prism|>": ["<|6-21|>", 19]}] | LOCATE OBJECTS:
Target Object: <|magenta|><|cube|> found at <|15-8|> with height 17
Target Placement Location: <|magenta|><|triangular prism|> at <|6-21|> with height 19
PLAN ACTIONS:
Step 1: Move above <|magenta|><|cube|> at <|15-8|> with height 30
Step 2: Lower to <|magenta|><|cube|> at <|15-8|> with height 17
Step 3... | [{"magenta-triangular prism": [84, 26, 19]}, {"navy-triangular prism": [52, 56, 18]}, {"navy-moon": [53, 64, 18]}, {"lime-cylinder": [22, 27, 17]}, {"magenta-cube": [32, 60, 17]}, {"red-star": [53, 58, 18]}] | Stack the magenta cube on top of the magenta triangular prism | [
[
32,
60,
30,
0,
60,
90,
1
],
[
32,
60,
17,
0,
60,
90,
1
],
[
32,
60,
17,
0,
60,
90,
0
],
[
32,
60,
30,
0,
60,
90,
0
],
[
84,
26,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|maroon|><|triangular prism|>": ["<|17-16|>", 18]}] | [{"<|cyan|><|cube|>": ["<|20-18|>", 19]}] | LOCATE OBJECTS:
Target Object: <|maroon|><|triangular prism|> found at <|17-16|> with height 18
Target Placement Location: <|cyan|><|cube|> at <|20-18|> with height 19
PLAN ACTIONS:
Step 1: Move above <|maroon|><|triangular prism|> at <|17-16|> with height 30
Step 2: Lower to <|maroon|><|triangular prism|> at <|17-16|>... | [{"azure-cube": [23, 49, 17]}, {"azure-moon": [27, 77, 18]}, {"maroon-triangular prism": [67, 69, 18]}, {"rose-moon": [56, 51, 18]}, {"cyan-cube": [75, 81, 19]}, {"maroon-cylinder": [69, 33, 17]}] | Stack the maroon triangular prism on top of the cyan cube | [
[
67,
69,
30,
0,
60,
90,
1
],
[
67,
69,
18,
0,
60,
90,
1
],
[
67,
69,
18,
0,
60,
90,
0
],
[
67,
69,
30,
0,
60,
90,
0
],
[
75,
81,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|red|><|cube|>": ["<|7-15|>", 18]}] | [{"<|azure|><|moon|>": ["<|4-9|>", 18]}] | LOCATE OBJECTS:
Target Object: <|red|><|cube|> found at <|7-15|> with height 18
Target Placement Location: <|azure|><|moon|> at <|4-9|> with height 18
PLAN ACTIONS:
Step 1: Move above <|red|><|cube|> at <|7-15|> with height 30
Step 2: Lower to <|red|><|cube|> at <|7-15|> with height 18
Step 3: Close gripper on <|red|><... | [{"azure-moon": [37, 17, 18]}, {"red-cube": [63, 30, 18]}, {"maroon-moon": [34, 26, 18]}, {"cyan-triangular prism": [39, 72, 17]}, {"teal-cylinder": [68, 22, 18]}] | Stack the red cube on top of the azure moon | [
[
63,
30,
30,
0,
60,
90,
1
],
[
63,
30,
18,
0,
60,
90,
1
],
[
63,
30,
18,
0,
60,
90,
0
],
[
63,
30,
30,
0,
60,
90,
0
],
[
37,
17,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|blue|><|star|>": ["<|19-11|>", 17]}] | [{"<|blue|><|container|>": ["<|5-15|>", 18]}] | LOCATE OBJECTS:
Target Object: <|blue|><|star|> found at <|19-11|> with height 17
Target Placement Location: <|blue|><|container|> at <|5-15|> with height 18
PLAN ACTIONS:
Step 1: Move above <|blue|><|star|> at <|19-11|> with height 30
Step 2: Lower to <|blue|><|star|> at <|19-11|> with height 17
Step 3: Close gripper ... | [{"blue-star": [45, 79, 17]}, {"teal-cylinder": [43, 58, 17]}, {"blue-container": [61, 22, 18]}, {"magenta-moon": [23, 39, 18]}, {"azure-moon": [61, 26, 18]}, {"green-triangular prism": [30, 85, 17]}, {"navy-cube": [88, 64, 18]}] | Pick up the blue star and place it into the blue container | [
[
45,
79,
30,
0,
60,
90,
1
],
[
45,
79,
17,
0,
60,
90,
1
],
[
45,
79,
17,
0,
60,
90,
0
],
[
45,
79,
30,
0,
60,
90,
0
],
[
61,
22,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|gray|><|cube|>": ["<|17-18|>", 18]}] | [{"<|silver|><|container|>": ["<|21-18|>", 18]}] | LOCATE OBJECTS:
Target Object: <|gray|><|cube|> found at <|17-18|> with height 18
Target Placement Location: <|silver|><|container|> at <|21-18|> with height 18
PLAN ACTIONS:
Step 1: Move above <|gray|><|cube|> at <|17-18|> with height 30
Step 2: Lower to <|gray|><|cube|> at <|17-18|> with height 18
Step 3: Close gripp... | [{"silver-container": [73, 85, 18]}, {"gray-cube": [75, 70, 18]}, {"magenta-triangular prism": [28, 31, 18]}, {"rose-moon": [60, 89, 17]}, {"navy-cube": [90, 57, 18]}, {"olive-cylinder": [82, 32, 18]}, {"violet-cylinder": [30, 41, 18]}] | Pick up the gray cube and place it into the silver container | [
[
75,
70,
30,
0,
60,
90,
1
],
[
75,
70,
18,
0,
60,
90,
1
],
[
75,
70,
18,
0,
60,
90,
0
],
[
75,
70,
30,
0,
60,
90,
0
],
[
73,
85,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|lime|><|triangular prism|>": ["<|7-11|>", 18]}] | [{"<|green|><|container|>": ["<|4-2|>", 17]}] | LOCATE OBJECTS:
Target Object: <|lime|><|triangular prism|> found at <|7-11|> with height 18
Target Placement Location: <|green|><|container|> at <|4-2|> with height 17
PLAN ACTIONS:
Step 1: Move above <|lime|><|triangular prism|> at <|7-11|> with height 30
Step 2: Lower to <|lime|><|triangular prism|> at <|7-11|> with... | [{"azure-triangular prism": [65, 72, 17]}, {"silver-cube": [46, 50, 18]}, {"green-container": [10, 17, 17]}, {"navy-cylinder": [79, 82, 18]}, {"white-moon": [88, 79, 18]}, {"lime-triangular prism": [46, 29, 18]}, {"rose-moon": [76, 61, 18]}] | Pick up the lime triangular prism and place it into the green container | [
[
46,
29,
30,
0,
60,
90,
1
],
[
46,
29,
18,
0,
60,
90,
1
],
[
46,
29,
18,
0,
60,
90,
0
],
[
46,
29,
30,
0,
60,
90,
0
],
[
10,
17,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|green|><|moon|>": ["<|13-7|>", 18]}] | [{"<|azure|><|container|>": ["<|17-19|>", 17]}] | LOCATE OBJECTS:
Target Object: <|green|><|moon|> found at <|13-7|> with height 18
Target Placement Location: <|azure|><|container|> at <|17-19|> with height 17
PLAN ACTIONS:
Step 1: Move above <|green|><|moon|> at <|13-7|> with height 30
Step 2: Lower to <|green|><|moon|> at <|13-7|> with height 18
Step 3: Close grippe... | [{"teal-star": [40, 52, 17]}, {"azure-star": [63, 63, 17]}, {"azure-container": [78, 70, 17]}, {"lime-triangular prism": [29, 69, 18]}, {"green-moon": [29, 52, 18]}] | Pick up the green moon and place it into the azure container | [
[
29,
52,
30,
0,
60,
90,
1
],
[
29,
52,
18,
0,
60,
90,
1
],
[
29,
52,
18,
0,
60,
90,
0
],
[
29,
52,
30,
0,
60,
90,
0
],
[
78,
70,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|teal|><|cylinder|>": ["<|8-22|>", 17]}] | [{"<|magenta|><|triangular prism|>": ["<|3-20|>", 19]}] | LOCATE OBJECTS:
Target Object: <|teal|><|cylinder|> found at <|8-22|> with height 17
Target Placement Location: <|magenta|><|triangular prism|> at <|3-20|> with height 19
PLAN ACTIONS:
Step 1: Move above <|teal|><|cylinder|> at <|8-22|> with height 30
Step 2: Lower to <|teal|><|cylinder|> at <|8-22|> with height 17
Ste... | [{"teal-cube": [50, 57, 18]}, {"green-cube": [21, 89, 17]}, {"black-cube": [81, 83, 17]}, {"teal-moon": [39, 60, 18]}, {"lime-triangular prism": [46, 73, 18]}, {"magenta-triangular prism": [81, 14, 19]}, {"teal-cylinder": [88, 35, 17]}] | Stack the teal cylinder on top of the magenta triangular prism | [
[
88,
35,
30,
0,
60,
90,
1
],
[
88,
35,
17,
0,
60,
90,
1
],
[
88,
35,
17,
0,
60,
90,
0
],
[
88,
35,
30,
0,
60,
90,
0
],
[
81,
14,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|white|><|cube|>": ["<|17-6|>", 17]}] | [{"<|azure|><|container|>": ["<|5-15|>", 19]}] | LOCATE OBJECTS:
Target Object: <|white|><|cube|> found at <|17-6|> with height 17
Target Placement Location: <|azure|><|container|> at <|5-15|> with height 19
PLAN ACTIONS:
Step 1: Move above <|white|><|cube|> at <|17-6|> with height 30
Step 2: Lower to <|white|><|cube|> at <|17-6|> with height 17
Step 3: Close gripper... | [{"rose-triangular prism": [88, 68, 18]}, {"black-cube": [37, 49, 18]}, {"teal-triangular prism": [28, 84, 17]}, {"azure-container": [61, 23, 19]}, {"white-cube": [27, 69, 17]}, {"yellow-cylinder": [71, 32, 17]}] | Pick up the white cube and place it into the azure container | [
[
27,
69,
30,
0,
60,
90,
1
],
[
27,
69,
17,
0,
60,
90,
1
],
[
27,
69,
17,
0,
60,
90,
0
],
[
27,
69,
30,
0,
60,
90,
0
],
[
61,
23,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|silver|><|cylinder|>": ["<|19-9|>", 18]}] | [{"<|green|><|moon|>": ["<|18-12|>", 17]}] | LOCATE OBJECTS:
Target Object: <|silver|><|cylinder|> found at <|19-9|> with height 18
Target Placement Location: <|green|><|moon|> at <|18-12|> with height 17
PLAN ACTIONS:
Step 1: Move above <|silver|><|cylinder|> at <|19-9|> with height 30
Step 2: Lower to <|silver|><|cylinder|> at <|19-9|> with height 18
Step 3: Cl... | [{"olive-triangular prism": [56, 40, 17]}, {"violet-cube": [70, 50, 17]}, {"green-moon": [48, 73, 17]}, {"silver-cylinder": [36, 77, 18]}, {"blue-cube": [30, 29, 18]}, {"olive-cube": [58, 72, 18]}] | Stack the silver cylinder on top of the green moon | [
[
36,
77,
30,
0,
60,
90,
1
],
[
36,
77,
18,
0,
60,
90,
1
],
[
36,
77,
18,
0,
60,
90,
0
],
[
36,
77,
30,
0,
60,
90,
0
],
[
48,
73,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|gray|><|cube|>": ["<|6-10|>", 18]}] | [{"<|navy|><|container|>": ["<|8-14|>", 18]}] | LOCATE OBJECTS:
Target Object: <|gray|><|cube|> found at <|6-10|> with height 18
Target Placement Location: <|navy|><|container|> at <|8-14|> with height 18
PLAN ACTIONS:
Step 1: Move above <|gray|><|cube|> at <|6-10|> with height 30
Step 2: Lower to <|gray|><|cube|> at <|6-10|> with height 18
Step 3: Close gripper on ... | [{"azure-cube": [28, 32, 18]}, {"teal-triangular prism": [37, 47, 17]}, {"gray-cube": [41, 24, 18]}, {"navy-container": [58, 32, 18]}, {"blue-cylinder": [30, 56, 17]}, {"violet-triangular prism": [86, 82, 18]}] | Pick up the gray cube and place it into the navy container | [
[
41,
24,
30,
0,
60,
90,
1
],
[
41,
24,
18,
0,
60,
90,
1
],
[
41,
24,
18,
0,
60,
90,
0
],
[
41,
24,
30,
0,
60,
90,
0
],
[
58,
32,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|rose|><|cube|>": ["<|18-6|>", 17]}] | [{"<|lime|><|cube|>": ["<|21-8|>", 18]}] | LOCATE OBJECTS:
Target Object: <|rose|><|cube|> found at <|18-6|> with height 17
Target Placement Location: <|lime|><|cube|> at <|21-8|> with height 18
PLAN ACTIONS:
Step 1: Move above <|rose|><|cube|> at <|18-6|> with height 30
Step 2: Lower to <|rose|><|cube|> at <|18-6|> with height 17
Step 3: Close gripper on <|ros... | [{"yellow-moon": [36, 45, 17]}, {"rose-cube": [26, 75, 17]}, {"violet-star": [61, 86, 17]}, {"lime-cube": [35, 84, 18]}, {"maroon-cube": [32, 28, 17]}] | Stack the rose cube on top of the lime cube | [
[
26,
75,
30,
0,
60,
90,
1
],
[
26,
75,
17,
0,
60,
90,
1
],
[
26,
75,
17,
0,
60,
90,
0
],
[
26,
75,
30,
0,
60,
90,
0
],
[
35,
84,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|purple|><|moon|>": ["<|18-10|>", 18]}] | [{"<|azure|><|container|>": ["<|12-9|>", 17]}] | LOCATE OBJECTS:
Target Object: <|purple|><|moon|> found at <|18-10|> with height 18
Target Placement Location: <|azure|><|container|> at <|12-9|> with height 17
PLAN ACTIONS:
Step 1: Move above <|purple|><|moon|> at <|18-10|> with height 30
Step 2: Lower to <|purple|><|moon|> at <|18-10|> with height 18
Step 3: Close g... | [{"silver-moon": [88, 21, 18]}, {"azure-container": [38, 50, 17]}, {"silver-star": [34, 66, 17]}, {"purple-moon": [40, 72, 18]}, {"yellow-moon": [60, 28, 17]}, {"yellow-star": [34, 61, 18]}] | Pick up the purple moon and place it into the azure container | [
[
40,
72,
30,
0,
60,
90,
1
],
[
40,
72,
18,
0,
60,
90,
1
],
[
40,
72,
18,
0,
60,
90,
0
],
[
40,
72,
30,
0,
60,
90,
0
],
[
38,
50,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|red|><|cylinder|>": ["<|8-9|>", 18]}] | [{"<|maroon|><|container|>": ["<|12-11|>", 19]}] | LOCATE OBJECTS:
Target Object: <|red|><|cylinder|> found at <|8-9|> with height 18
Target Placement Location: <|maroon|><|container|> at <|12-11|> with height 19
PLAN ACTIONS:
Step 1: Move above <|red|><|cylinder|> at <|8-9|> with height 30
Step 2: Lower to <|red|><|cylinder|> at <|8-9|> with height 18
Step 3: Close gr... | [{"maroon-container": [45, 50, 19]}, {"magenta-moon": [26, 31, 18]}, {"green-cube": [30, 78, 17]}, {"olive-cylinder": [36, 23, 17]}, {"red-cylinder": [37, 33, 18]}, {"azure-cylinder": [84, 58, 17]}] | Pick up the red cylinder and place it into the maroon container | [
[
37,
33,
30,
0,
60,
90,
1
],
[
37,
33,
18,
0,
60,
90,
1
],
[
37,
33,
18,
0,
60,
90,
0
],
[
37,
33,
30,
0,
60,
90,
0
],
[
45,
50,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|teal|><|cylinder|>": ["<|17-11|>", 18]}] | [{"<|green|><|triangular prism|>": ["<|20-5|>", 18]}] | LOCATE OBJECTS:
Target Object: <|teal|><|cylinder|> found at <|17-11|> with height 18
Target Placement Location: <|green|><|triangular prism|> at <|20-5|> with height 18
PLAN ACTIONS:
Step 1: Move above <|teal|><|cylinder|> at <|17-11|> with height 30
Step 2: Lower to <|teal|><|cylinder|> at <|17-11|> with height 18
St... | [{"olive-triangular prism": [22, 76, 17]}, {"green-triangular prism": [23, 81, 18]}, {"green-star": [23, 48, 18]}, {"violet-triangular prism": [38, 32, 17]}, {"yellow-triangular prism": [48, 34, 17]}, {"teal-cylinder": [46, 70, 18]}, {"rose-cylinder": [50, 79, 18]}] | Stack the teal cylinder on top of the green triangular prism | [
[
46,
70,
30,
0,
60,
90,
1
],
[
46,
70,
18,
0,
60,
90,
1
],
[
46,
70,
18,
0,
60,
90,
0
],
[
46,
70,
30,
0,
60,
90,
0
],
[
23,
81,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|purple|><|moon|>": ["<|11-9|>", 18]}] | [{"<|magenta|><|container|>": ["<|7-19|>", 19]}] | LOCATE OBJECTS:
Target Object: <|purple|><|moon|> found at <|11-9|> with height 18
Target Placement Location: <|magenta|><|container|> at <|7-19|> with height 19
PLAN ACTIONS:
Step 1: Move above <|purple|><|moon|> at <|11-9|> with height 30
Step 2: Lower to <|purple|><|moon|> at <|11-9|> with height 18
Step 3: Close gr... | [{"magenta-container": [78, 28, 19]}, {"purple-moon": [36, 46, 18]}, {"olive-cylinder": [29, 37, 18]}, {"magenta-star": [88, 58, 18]}, {"black-cube": [82, 22, 18]}, {"lime-cube": [71, 49, 18]}] | Pick up the purple moon and place it into the magenta container | [
[
36,
46,
30,
0,
60,
90,
1
],
[
36,
46,
18,
0,
60,
90,
1
],
[
36,
46,
18,
0,
60,
90,
0
],
[
36,
46,
30,
0,
60,
90,
0
],
[
78,
28,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|white|><|moon|>": ["<|19-20|>", 17]}] | [{"<|green|><|moon|>": ["<|9-21|>", 19]}] | LOCATE OBJECTS:
Target Object: <|white|><|moon|> found at <|19-20|> with height 17
Target Placement Location: <|green|><|moon|> at <|9-21|> with height 19
PLAN ACTIONS:
Step 1: Move above <|white|><|moon|> at <|19-20|> with height 30
Step 2: Lower to <|white|><|moon|> at <|19-20|> with height 17
Step 3: Close gripper o... | [{"green-moon": [85, 38, 19]}, {"white-star": [63, 41, 17]}, {"cyan-star": [48, 33, 17]}, {"lime-cylinder": [48, 51, 18]}, {"white-moon": [83, 79, 17]}] | Stack the white moon on top of the green moon | [
[
83,
79,
30,
0,
60,
90,
1
],
[
83,
79,
17,
0,
60,
90,
1
],
[
83,
79,
17,
0,
60,
90,
0
],
[
83,
79,
30,
0,
60,
90,
0
],
[
85,
38,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|lime|><|star|>": ["<|8-22|>", 17]}] | [{"<|yellow|><|cube|>": ["<|8-7|>", 17]}] | LOCATE OBJECTS:
Target Object: <|lime|><|star|> found at <|8-22|> with height 17
Target Placement Location: <|yellow|><|cube|> at <|8-7|> with height 17
PLAN ACTIONS:
Step 1: Move above <|lime|><|star|> at <|8-22|> with height 30
Step 2: Lower to <|lime|><|star|> at <|8-22|> with height 17
Step 3: Close gripper on <|li... | [{"yellow-cube": [31, 35, 17]}, {"navy-moon": [86, 76, 17]}, {"rose-cube": [65, 80, 17]}, {"lime-star": [88, 34, 17]}, {"purple-cube": [86, 63, 17]}, {"white-cylinder": [52, 29, 17]}, {"olive-moon": [81, 45, 17]}] | Stack the lime star on top of the yellow cube | [
[
88,
34,
30,
0,
60,
90,
1
],
[
88,
34,
17,
0,
60,
90,
1
],
[
88,
34,
17,
0,
60,
90,
0
],
[
88,
34,
30,
0,
60,
90,
0
],
[
31,
35,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|violet|><|triangular prism|>": ["<|21-9|>", 18]}] | [{"<|gray|><|cube|>": ["<|17-5|>", 17]}] | LOCATE OBJECTS:
Target Object: <|violet|><|triangular prism|> found at <|21-9|> with height 18
Target Placement Location: <|gray|><|cube|> at <|17-5|> with height 17
PLAN ACTIONS:
Step 1: Move above <|violet|><|triangular prism|> at <|21-9|> with height 30
Step 2: Lower to <|violet|><|triangular prism|> at <|21-9|> wit... | [{"silver-cube": [77, 73, 18]}, {"gray-cube": [22, 70, 17]}, {"yellow-moon": [52, 75, 17]}, {"violet-triangular prism": [37, 84, 18]}, {"rose-star": [53, 21, 17]}, {"magenta-cylinder": [56, 81, 18]}, {"red-cube": [44, 29, 17]}] | Stack the violet triangular prism on top of the gray cube | [
[
37,
84,
30,
0,
60,
90,
1
],
[
37,
84,
18,
0,
60,
90,
1
],
[
37,
84,
18,
0,
60,
90,
0
],
[
37,
84,
30,
0,
60,
90,
0
],
[
22,
70,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|olive|><|star|>": ["<|6-5|>", 17]}] | [{"<|lime|><|cylinder|>": ["<|9-6|>", 18]}] | LOCATE OBJECTS:
Target Object: <|olive|><|star|> found at <|6-5|> with height 17
Target Placement Location: <|lime|><|cylinder|> at <|9-6|> with height 18
PLAN ACTIONS:
Step 1: Move above <|olive|><|star|> at <|6-5|> with height 30
Step 2: Lower to <|olive|><|star|> at <|6-5|> with height 17
Step 3: Close gripper on <|... | [{"green-star": [64, 31, 18]}, {"olive-star": [23, 26, 17]}, {"lime-cylinder": [26, 38, 18]}, {"maroon-moon": [46, 26, 17]}, {"white-moon": [42, 20, 17]}] | Stack the olive star on top of the lime cylinder | [
[
23,
26,
30,
0,
60,
90,
1
],
[
23,
26,
17,
0,
60,
90,
1
],
[
23,
26,
17,
0,
60,
90,
0
],
[
23,
26,
30,
0,
60,
90,
0
],
[
26,
38,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|maroon|><|star|>": ["<|5-9|>", 17]}] | [{"<|cyan|><|container|>": ["<|18-14|>", 17]}] | LOCATE OBJECTS:
Target Object: <|maroon|><|star|> found at <|5-9|> with height 17
Target Placement Location: <|cyan|><|container|> at <|18-14|> with height 17
PLAN ACTIONS:
Step 1: Move above <|maroon|><|star|> at <|5-9|> with height 30
Step 2: Lower to <|maroon|><|star|> at <|5-9|> with height 17
Step 3: Close gripper... | [{"teal-moon": [29, 44, 17]}, {"yellow-star": [84, 87, 17]}, {"cyan-moon": [32, 87, 18]}, {"cyan-container": [58, 74, 17]}, {"navy-triangular prism": [45, 86, 17]}, {"red-triangular prism": [77, 65, 17]}, {"maroon-star": [36, 20, 17]}] | Pick up the maroon star and place it into the cyan container | [
[
36,
20,
30,
0,
60,
90,
1
],
[
36,
20,
17,
0,
60,
90,
1
],
[
36,
20,
17,
0,
60,
90,
0
],
[
36,
20,
30,
0,
60,
90,
0
],
[
58,
74,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|gray|><|moon|>": ["<|5-19|>", 18]}] | [{"<|teal|><|container|>": ["<|7-8|>", 18]}] | LOCATE OBJECTS:
Target Object: <|gray|><|moon|> found at <|5-19|> with height 18
Target Placement Location: <|teal|><|container|> at <|7-8|> with height 18
PLAN ACTIONS:
Step 1: Move above <|gray|><|moon|> at <|5-19|> with height 30
Step 2: Lower to <|gray|><|moon|> at <|5-19|> with height 18
Step 3: Close gripper on <... | [{"olive-cylinder": [78, 46, 17]}, {"lime-star": [84, 26, 17]}, {"teal-container": [35, 31, 18]}, {"gray-cylinder": [59, 90, 18]}, {"green-cube": [55, 30, 18]}, {"gray-moon": [79, 22, 18]}] | Pick up the gray moon and place it into the teal container | [
[
79,
22,
30,
0,
60,
90,
1
],
[
79,
22,
18,
0,
60,
90,
1
],
[
79,
22,
18,
0,
60,
90,
0
],
[
79,
22,
30,
0,
60,
90,
0
],
[
35,
31,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|azure|><|triangular prism|>": ["<|18-20|>", 18]}] | [{"<|violet|><|cylinder|>": ["<|9-7|>", 19]}] | LOCATE OBJECTS:
Target Object: <|azure|><|triangular prism|> found at <|18-20|> with height 18
Target Placement Location: <|violet|><|cylinder|> at <|9-7|> with height 19
PLAN ACTIONS:
Step 1: Move above <|azure|><|triangular prism|> at <|18-20|> with height 30
Step 2: Lower to <|azure|><|triangular prism|> at <|18-20|... | [{"red-star": [28, 72, 17]}, {"azure-triangular prism": [83, 75, 18]}, {"magenta-moon": [79, 76, 18]}, {"azure-moon": [48, 54, 17]}, {"violet-cylinder": [29, 38, 19]}] | Stack the azure triangular prism on top of the violet cylinder | [
[
83,
75,
30,
0,
60,
90,
1
],
[
83,
75,
18,
0,
60,
90,
1
],
[
83,
75,
18,
0,
60,
90,
0
],
[
83,
75,
30,
0,
60,
90,
0
],
[
29,
38,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|lime|><|star|>": ["<|9-6|>", 17]}] | [{"<|gray|><|container|>": ["<|11-2|>", 18]}] | LOCATE OBJECTS:
Target Object: <|lime|><|star|> found at <|9-6|> with height 17
Target Placement Location: <|gray|><|container|> at <|11-2|> with height 18
PLAN ACTIONS:
Step 1: Move above <|lime|><|star|> at <|9-6|> with height 30
Step 2: Lower to <|lime|><|star|> at <|9-6|> with height 17
Step 3: Close gripper on <|l... | [{"white-triangular prism": [70, 84, 18]}, {"lime-star": [24, 37, 17]}, {"rose-star": [49, 46, 17]}, {"rose-cylinder": [41, 26, 18]}, {"gray-container": [11, 46, 18]}, {"magenta-cube": [72, 75, 17]}] | Pick up the lime star and place it into the gray container | [
[
24,
37,
30,
0,
60,
90,
1
],
[
24,
37,
17,
0,
60,
90,
1
],
[
24,
37,
17,
0,
60,
90,
0
],
[
24,
37,
30,
0,
60,
90,
0
],
[
11,
46,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|maroon|><|cube|>": ["<|15-20|>", 17]}] | [{"<|cyan|><|container|>": ["<|16-18|>", 18]}] | LOCATE OBJECTS:
Target Object: <|maroon|><|cube|> found at <|15-20|> with height 17
Target Placement Location: <|cyan|><|container|> at <|16-18|> with height 18
PLAN ACTIONS:
Step 1: Move above <|maroon|><|cube|> at <|15-20|> with height 30
Step 2: Lower to <|maroon|><|cube|> at <|15-20|> with height 17
Step 3: Close g... | [{"cyan-container": [72, 67, 18]}, {"teal-triangular prism": [80, 29, 18]}, {"maroon-cube": [81, 61, 17]}, {"olive-star": [78, 30, 18]}, {"rose-cube": [83, 30, 18]}] | Pick up the maroon cube and place it into the cyan container | [
[
81,
61,
30,
0,
60,
90,
1
],
[
81,
61,
17,
0,
60,
90,
1
],
[
81,
61,
17,
0,
60,
90,
0
],
[
81,
61,
30,
0,
60,
90,
0
],
[
72,
67,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|blue|><|cylinder|>": ["<|5-9|>", 17]}] | [{"<|azure|><|moon|>": ["<|20-11|>", 18]}] | LOCATE OBJECTS:
Target Object: <|blue|><|cylinder|> found at <|5-9|> with height 17
Target Placement Location: <|azure|><|moon|> at <|20-11|> with height 18
PLAN ACTIONS:
Step 1: Move above <|blue|><|cylinder|> at <|5-9|> with height 30
Step 2: Lower to <|blue|><|cylinder|> at <|5-9|> with height 17
Step 3: Close gripp... | [{"azure-moon": [45, 81, 18]}, {"blue-cylinder": [36, 23, 17]}, {"cyan-cylinder": [22, 43, 18]}, {"silver-star": [55, 52, 17]}, {"magenta-triangular prism": [33, 24, 18]}, {"teal-triangular prism": [38, 33, 17]}] | Stack the blue cylinder on top of the azure moon | [
[
36,
23,
30,
0,
60,
90,
1
],
[
36,
23,
17,
0,
60,
90,
1
],
[
36,
23,
17,
0,
60,
90,
0
],
[
36,
23,
30,
0,
60,
90,
0
],
[
45,
81,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|gray|><|triangular prism|>": ["<|10-6|>", 18]}] | [{"<|gray|><|container|>": ["<|19-3|>", 17]}] | LOCATE OBJECTS:
Target Object: <|gray|><|triangular prism|> found at <|10-6|> with height 18
Target Placement Location: <|gray|><|container|> at <|19-3|> with height 17
PLAN ACTIONS:
Step 1: Move above <|gray|><|triangular prism|> at <|10-6|> with height 30
Step 2: Lower to <|gray|><|triangular prism|> at <|10-6|> with... | [{"green-cube": [66, 34, 18]}, {"lime-moon": [34, 26, 18]}, {"teal-moon": [72, 27, 17]}, {"gray-container": [14, 79, 17]}, {"violet-star": [69, 43, 17]}, {"gray-triangular prism": [25, 40, 18]}] | Pick up the gray triangular prism and place it into the gray container | [
[
25,
40,
30,
0,
60,
90,
1
],
[
25,
40,
18,
0,
60,
90,
1
],
[
25,
40,
18,
0,
60,
90,
0
],
[
25,
40,
30,
0,
60,
90,
0
],
[
14,
79,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|black|><|triangular prism|>": ["<|19-21|>", 18]}] | [{"<|silver|><|container|>": ["<|3-20|>", 17]}] | LOCATE OBJECTS:
Target Object: <|black|><|triangular prism|> found at <|19-21|> with height 18
Target Placement Location: <|silver|><|container|> at <|3-20|> with height 17
PLAN ACTIONS:
Step 1: Move above <|black|><|triangular prism|> at <|19-21|> with height 30
Step 2: Lower to <|black|><|triangular prism|> at <|19-2... | [{"maroon-star": [38, 28, 17]}, {"red-triangular prism": [30, 75, 18]}, {"black-triangular prism": [84, 78, 18]}, {"violet-cylinder": [48, 40, 18]}, {"silver-container": [81, 15, 17]}] | Pick up the black triangular prism and place it into the silver container | [
[
84,
78,
30,
0,
60,
90,
1
],
[
84,
78,
18,
0,
60,
90,
1
],
[
84,
78,
18,
0,
60,
90,
0
],
[
84,
78,
30,
0,
60,
90,
0
],
[
81,
15,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|gray|><|triangular prism|>": ["<|20-10|>", 17]}] | [{"<|violet|><|container|>": ["<|13-20|>", 18]}] | LOCATE OBJECTS:
Target Object: <|gray|><|triangular prism|> found at <|20-10|> with height 17
Target Placement Location: <|violet|><|container|> at <|13-20|> with height 18
PLAN ACTIONS:
Step 1: Move above <|gray|><|triangular prism|> at <|20-10|> with height 30
Step 2: Lower to <|gray|><|triangular prism|> at <|20-10|... | [{"rose-moon": [38, 65, 18]}, {"violet-moon": [65, 84, 17]}, {"blue-cube": [59, 27, 18]}, {"green-cylinder": [85, 75, 17]}, {"black-triangular prism": [77, 48, 18]}, {"violet-container": [83, 53, 18]}, {"gray-triangular prism": [40, 80, 17]}] | Pick up the gray triangular prism and place it into the violet container | [
[
40,
80,
30,
0,
60,
90,
1
],
[
40,
80,
17,
0,
60,
90,
1
],
[
40,
80,
17,
0,
60,
90,
0
],
[
40,
80,
30,
0,
60,
90,
0
],
[
83,
53,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|white|><|cylinder|>": ["<|13-9|>", 17]}] | [{"<|lime|><|cylinder|>": ["<|7-10|>", 18]}] | LOCATE OBJECTS:
Target Object: <|white|><|cylinder|> found at <|13-9|> with height 17
Target Placement Location: <|lime|><|cylinder|> at <|7-10|> with height 18
PLAN ACTIONS:
Step 1: Move above <|white|><|cylinder|> at <|13-9|> with height 30
Step 2: Lower to <|white|><|cylinder|> at <|13-9|> with height 17
Step 3: Clo... | [{"maroon-cube": [70, 79, 17]}, {"purple-triangular prism": [47, 90, 17]}, {"silver-moon": [27, 20, 17]}, {"lime-cylinder": [40, 28, 18]}, {"lime-star": [88, 67, 17]}, {"white-cylinder": [37, 52, 17]}] | Stack the white cylinder on top of the lime cylinder | [
[
37,
52,
30,
0,
60,
90,
1
],
[
37,
52,
17,
0,
60,
90,
1
],
[
37,
52,
17,
0,
60,
90,
0
],
[
37,
52,
30,
0,
60,
90,
0
],
[
40,
28,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|silver|><|triangular prism|>": ["<|16-8|>", 17]}] | [{"<|azure|><|moon|>": ["<|14-16|>", 19]}] | LOCATE OBJECTS:
Target Object: <|silver|><|triangular prism|> found at <|16-8|> with height 17
Target Placement Location: <|azure|><|moon|> at <|14-16|> with height 19
PLAN ACTIONS:
Step 1: Move above <|silver|><|triangular prism|> at <|16-8|> with height 30
Step 2: Lower to <|silver|><|triangular prism|> at <|16-8|> w... | [{"green-triangular prism": [28, 70, 17]}, {"green-moon": [84, 37, 18]}, {"silver-triangular prism": [35, 65, 17]}, {"rose-star": [55, 34, 18]}, {"magenta-triangular prism": [47, 73, 17]}, {"azure-moon": [64, 56, 19]}] | Stack the silver triangular prism on top of the azure moon | [
[
35,
65,
30,
0,
60,
90,
1
],
[
35,
65,
17,
0,
60,
90,
1
],
[
35,
65,
17,
0,
60,
90,
0
],
[
35,
65,
30,
0,
60,
90,
0
],
[
64,
56,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|navy|><|triangular prism|>": ["<|10-6|>", 17]}] | [{"<|black|><|container|>": ["<|3-6|>", 17]}] | LOCATE OBJECTS:
Target Object: <|navy|><|triangular prism|> found at <|10-6|> with height 17
Target Placement Location: <|black|><|container|> at <|3-6|> with height 17
PLAN ACTIONS:
Step 1: Move above <|navy|><|triangular prism|> at <|10-6|> with height 30
Step 2: Lower to <|navy|><|triangular prism|> at <|10-6|> with... | [{"navy-triangular prism": [26, 42, 17]}, {"violet-triangular prism": [83, 33, 18]}, {"black-container": [27, 13, 17]}, {"white-star": [72, 58, 18]}, {"silver-cylinder": [29, 84, 17]}, {"purple-triangular prism": [79, 62, 18]}] | Pick up the navy triangular prism and place it into the black container | [
[
26,
42,
30,
0,
60,
90,
1
],
[
26,
42,
17,
0,
60,
90,
1
],
[
26,
42,
17,
0,
60,
90,
0
],
[
26,
42,
30,
0,
60,
90,
0
],
[
27,
13,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|olive|><|cylinder|>": ["<|10-11|>", 18]}] | [{"<|azure|><|triangular prism|>": ["<|5-9|>", 19]}] | LOCATE OBJECTS:
Target Object: <|olive|><|cylinder|> found at <|10-11|> with height 18
Target Placement Location: <|azure|><|triangular prism|> at <|5-9|> with height 19
PLAN ACTIONS:
Step 1: Move above <|olive|><|cylinder|> at <|10-11|> with height 30
Step 2: Lower to <|olive|><|cylinder|> at <|10-11|> with height 18
... | [{"azure-star": [87, 34, 18]}, {"navy-star": [22, 65, 17]}, {"olive-cylinder": [45, 42, 18]}, {"navy-cube": [35, 69, 18]}, {"azure-triangular prism": [38, 21, 19]}] | Stack the olive cylinder on top of the azure triangular prism | [
[
45,
42,
30,
0,
60,
90,
1
],
[
45,
42,
18,
0,
60,
90,
1
],
[
45,
42,
18,
0,
60,
90,
0
],
[
45,
42,
30,
0,
60,
90,
0
],
[
38,
21,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|green|><|moon|>": ["<|16-10|>", 17]}] | [{"<|violet|><|moon|>": ["<|3-3|>", 19]}] | LOCATE OBJECTS:
Target Object: <|green|><|moon|> found at <|16-10|> with height 17
Target Placement Location: <|violet|><|moon|> at <|3-3|> with height 19
PLAN ACTIONS:
Step 1: Move above <|green|><|moon|> at <|16-10|> with height 30
Step 2: Lower to <|green|><|moon|> at <|16-10|> with height 17
Step 3: Close gripper o... | [{"green-moon": [42, 67, 17]}, {"blue-triangular prism": [55, 22, 17]}, {"olive-star": [44, 23, 17]}, {"teal-triangular prism": [47, 21, 17]}, {"black-triangular prism": [27, 36, 17]}, {"azure-moon": [23, 26, 18]}, {"violet-moon": [13, 14, 19]}] | Stack the green moon on top of the violet moon | [
[
42,
67,
30,
0,
60,
90,
1
],
[
42,
67,
17,
0,
60,
90,
1
],
[
42,
67,
17,
0,
60,
90,
0
],
[
42,
67,
30,
0,
60,
90,
0
],
[
13,
14,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|gray|><|cube|>": ["<|21-7|>", 17]}] | [{"<|teal|><|cylinder|>": ["<|21-14|>", 18]}] | LOCATE OBJECTS:
Target Object: <|gray|><|cube|> found at <|21-7|> with height 17
Target Placement Location: <|teal|><|cylinder|> at <|21-14|> with height 18
PLAN ACTIONS:
Step 1: Move above <|gray|><|cube|> at <|21-7|> with height 30
Step 2: Lower to <|gray|><|cube|> at <|21-7|> with height 17
Step 3: Close gripper on ... | [{"gray-cube": [29, 84, 17]}, {"red-triangular prism": [52, 21, 18]}, {"teal-cylinder": [59, 85, 18]}, {"magenta-moon": [52, 76, 18]}, {"lime-triangular prism": [90, 20, 17]}, {"violet-triangular prism": [70, 57, 17]}] | Stack the gray cube on top of the teal cylinder | [
[
29,
84,
30,
0,
60,
90,
1
],
[
29,
84,
17,
0,
60,
90,
1
],
[
29,
84,
17,
0,
60,
90,
0
],
[
29,
84,
30,
0,
60,
90,
0
],
[
59,
85,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|gray|><|star|>": ["<|8-18|>", 18]}] | [{"<|lime|><|container|>": ["<|12-22|>", 18]}] | LOCATE OBJECTS:
Target Object: <|gray|><|star|> found at <|8-18|> with height 18
Target Placement Location: <|lime|><|container|> at <|12-22|> with height 18
PLAN ACTIONS:
Step 1: Move above <|gray|><|star|> at <|8-18|> with height 30
Step 2: Lower to <|gray|><|star|> at <|8-18|> with height 18
Step 3: Close gripper on... | [{"blue-moon": [37, 88, 18]}, {"lime-container": [89, 49, 18]}, {"green-moon": [85, 90, 17]}, {"gray-star": [74, 34, 18]}, {"magenta-moon": [40, 35, 18]}, {"maroon-cylinder": [38, 22, 17]}] | Pick up the gray star and place it into the lime container | [
[
74,
34,
30,
0,
60,
90,
1
],
[
74,
34,
18,
0,
60,
90,
1
],
[
74,
34,
18,
0,
60,
90,
0
],
[
74,
34,
30,
0,
60,
90,
0
],
[
89,
49,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|lime|><|triangular prism|>": ["<|12-15|>", 17]}] | [{"<|black|><|container|>": ["<|6-20|>", 17]}] | LOCATE OBJECTS:
Target Object: <|lime|><|triangular prism|> found at <|12-15|> with height 17
Target Placement Location: <|black|><|container|> at <|6-20|> with height 17
PLAN ACTIONS:
Step 1: Move above <|lime|><|triangular prism|> at <|12-15|> with height 30
Step 2: Lower to <|lime|><|triangular prism|> at <|12-15|> ... | [{"maroon-triangular prism": [56, 71, 18]}, {"lime-triangular prism": [61, 50, 17]}, {"navy-cylinder": [23, 36, 18]}, {"black-container": [82, 24, 17]}, {"teal-triangular prism": [30, 84, 18]}, {"olive-cube": [44, 21, 18]}] | Pick up the lime triangular prism and place it into the black container | [
[
61,
50,
30,
0,
60,
90,
1
],
[
61,
50,
17,
0,
60,
90,
1
],
[
61,
50,
17,
0,
60,
90,
0
],
[
61,
50,
30,
0,
60,
90,
0
],
[
82,
24,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|green|><|moon|>": ["<|9-8|>", 18]}] | [{"<|violet|><|container|>": ["<|6-15|>", 17]}] | LOCATE OBJECTS:
Target Object: <|green|><|moon|> found at <|9-8|> with height 18
Target Placement Location: <|violet|><|container|> at <|6-15|> with height 17
PLAN ACTIONS:
Step 1: Move above <|green|><|moon|> at <|9-8|> with height 30
Step 2: Lower to <|green|><|moon|> at <|9-8|> with height 18
Step 3: Close gripper o... | [{"purple-triangular prism": [45, 85, 17]}, {"green-moon": [34, 39, 18]}, {"green-triangular prism": [20, 43, 17]}, {"violet-container": [60, 26, 17]}, {"purple-cylinder": [64, 56, 17]}] | Pick up the green moon and place it into the violet container | [
[
34,
39,
30,
0,
60,
90,
1
],
[
34,
39,
18,
0,
60,
90,
1
],
[
34,
39,
18,
0,
60,
90,
0
],
[
34,
39,
30,
0,
60,
90,
0
],
[
60,
26,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|gray|><|moon|>": ["<|7-19|>", 18]}] | [{"<|teal|><|container|>": ["<|10-13|>", 18]}] | LOCATE OBJECTS:
Target Object: <|gray|><|moon|> found at <|7-19|> with height 18
Target Placement Location: <|teal|><|container|> at <|10-13|> with height 18
PLAN ACTIONS:
Step 1: Move above <|gray|><|moon|> at <|7-19|> with height 30
Step 2: Lower to <|gray|><|moon|> at <|7-19|> with height 18
Step 3: Close gripper on... | [{"purple-cylinder": [40, 80, 17]}, {"gray-moon": [78, 30, 18]}, {"white-cube": [86, 46, 17]}, {"purple-triangular prism": [69, 57, 18]}, {"olive-cylinder": [38, 20, 17]}, {"teal-container": [52, 43, 18]}] | Pick up the gray moon and place it into the teal container | [
[
78,
30,
30,
0,
60,
90,
1
],
[
78,
30,
18,
0,
60,
90,
1
],
[
78,
30,
18,
0,
60,
90,
0
],
[
78,
30,
30,
0,
60,
90,
0
],
[
52,
43,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|olive|><|cube|>": ["<|21-7|>", 18]}] | [{"<|blue|><|cylinder|>": ["<|10-5|>", 19]}] | LOCATE OBJECTS:
Target Object: <|olive|><|cube|> found at <|21-7|> with height 18
Target Placement Location: <|blue|><|cylinder|> at <|10-5|> with height 19
PLAN ACTIONS:
Step 1: Move above <|olive|><|cube|> at <|21-7|> with height 30
Step 2: Lower to <|olive|><|cube|> at <|21-7|> with height 18
Step 3: Close gripper o... | [{"black-cylinder": [87, 41, 18]}, {"navy-star": [33, 73, 18]}, {"yellow-triangular prism": [33, 33, 17]}, {"olive-cube": [31, 84, 18]}, {"azure-moon": [27, 84, 18]}, {"blue-cylinder": [21, 41, 19]}] | Stack the olive cube on top of the blue cylinder | [
[
31,
84,
30,
0,
60,
90,
1
],
[
31,
84,
18,
0,
60,
90,
1
],
[
31,
84,
18,
0,
60,
90,
0
],
[
31,
84,
30,
0,
60,
90,
0
],
[
21,
41,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|purple|><|moon|>": ["<|5-12|>", 17]}] | [{"<|olive|><|container|>": ["<|16-13|>", 18]}] | LOCATE OBJECTS:
Target Object: <|purple|><|moon|> found at <|5-12|> with height 17
Target Placement Location: <|olive|><|container|> at <|16-13|> with height 18
PLAN ACTIONS:
Step 1: Move above <|purple|><|moon|> at <|5-12|> with height 30
Step 2: Lower to <|purple|><|moon|> at <|5-12|> with height 17
Step 3: Close gri... | [{"violet-star": [53, 55, 18]}, {"olive-container": [55, 65, 18]}, {"olive-triangular prism": [23, 41, 17]}, {"black-cube": [21, 82, 17]}, {"silver-moon": [84, 62, 17]}, {"purple-moon": [49, 21, 17]}] | Pick up the purple moon and place it into the olive container | [
[
49,
21,
30,
0,
60,
90,
1
],
[
49,
21,
17,
0,
60,
90,
1
],
[
49,
21,
17,
0,
60,
90,
0
],
[
49,
21,
30,
0,
60,
90,
0
],
[
55,
65,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|red|><|cube|>": ["<|12-8|>", 17]}] | [{"<|black|><|star|>": ["<|18-12|>", 17]}] | LOCATE OBJECTS:
Target Object: <|red|><|cube|> found at <|12-8|> with height 17
Target Placement Location: <|black|><|star|> at <|18-12|> with height 17
PLAN ACTIONS:
Step 1: Move above <|red|><|cube|> at <|12-8|> with height 30
Step 2: Lower to <|red|><|cube|> at <|12-8|> with height 17
Step 3: Close gripper on <|red|... | [{"cyan-triangular prism": [46, 54, 18]}, {"black-star": [51, 73, 17]}, {"black-cube": [59, 75, 18]}, {"red-cube": [33, 50, 17]}, {"rose-cylinder": [57, 74, 18]}] | Stack the red cube on top of the black star | [
[
33,
50,
30,
0,
60,
90,
1
],
[
33,
50,
17,
0,
60,
90,
1
],
[
33,
50,
17,
0,
60,
90,
0
],
[
33,
50,
30,
0,
60,
90,
0
],
[
51,
73,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|cyan|><|cylinder|>": ["<|13-18|>", 17]}] | [{"<|olive|><|cube|>": ["<|20-19|>", 18]}] | LOCATE OBJECTS:
Target Object: <|cyan|><|cylinder|> found at <|13-18|> with height 17
Target Placement Location: <|olive|><|cube|> at <|20-19|> with height 18
PLAN ACTIONS:
Step 1: Move above <|cyan|><|cylinder|> at <|13-18|> with height 30
Step 2: Lower to <|cyan|><|cylinder|> at <|13-18|> with height 17
Step 3: Close... | [{"green-cube": [82, 33, 17]}, {"cyan-cylinder": [72, 54, 17]}, {"white-cylinder": [32, 41, 18]}, {"olive-cube": [78, 81, 18]}, {"maroon-cube": [65, 24, 18]}, {"azure-star": [56, 69, 17]}, {"navy-triangular prism": [45, 20, 18]}] | Stack the cyan cylinder on top of the olive cube | [
[
72,
54,
30,
0,
60,
90,
1
],
[
72,
54,
17,
0,
60,
90,
1
],
[
72,
54,
17,
0,
60,
90,
0
],
[
72,
54,
30,
0,
60,
90,
0
],
[
78,
81,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|black|><|cylinder|>": ["<|21-19|>", 17]}] | [{"<|purple|><|container|>": ["<|15-11|>", 19]}] | LOCATE OBJECTS:
Target Object: <|black|><|cylinder|> found at <|21-19|> with height 17
Target Placement Location: <|purple|><|container|> at <|15-11|> with height 19
PLAN ACTIONS:
Step 1: Move above <|black|><|cylinder|> at <|21-19|> with height 30
Step 2: Lower to <|black|><|cylinder|> at <|21-19|> with height 17
Step... | [{"black-cylinder": [79, 86, 17]}, {"silver-cube": [34, 89, 18]}, {"teal-star": [52, 25, 17]}, {"maroon-cylinder": [30, 56, 17]}, {"purple-container": [45, 63, 19]}, {"red-triangular prism": [57, 70, 18]}] | Pick up the black cylinder and place it into the purple container | [
[
79,
86,
30,
0,
60,
90,
1
],
[
79,
86,
17,
0,
60,
90,
1
],
[
79,
86,
17,
0,
60,
90,
0
],
[
79,
86,
30,
0,
60,
90,
0
],
[
45,
63,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|lime|><|cylinder|>": ["<|14-13|>", 17]}] | [{"<|purple|><|cylinder|>": ["<|10-6|>", 19]}] | LOCATE OBJECTS:
Target Object: <|lime|><|cylinder|> found at <|14-13|> with height 17
Target Placement Location: <|purple|><|cylinder|> at <|10-6|> with height 19
PLAN ACTIONS:
Step 1: Move above <|lime|><|cylinder|> at <|14-13|> with height 30
Step 2: Lower to <|lime|><|cylinder|> at <|14-13|> with height 17
Step 3: C... | [{"magenta-cube": [72, 89, 17]}, {"yellow-cube": [25, 57, 18]}, {"azure-moon": [87, 76, 18]}, {"green-triangular prism": [57, 73, 17]}, {"purple-cylinder": [27, 42, 19]}, {"lime-cylinder": [55, 58, 17]}, {"violet-cylinder": [28, 45, 17]}] | Stack the lime cylinder on top of the purple cylinder | [
[
55,
58,
30,
0,
60,
90,
1
],
[
55,
58,
17,
0,
60,
90,
1
],
[
55,
58,
17,
0,
60,
90,
0
],
[
55,
58,
30,
0,
60,
90,
0
],
[
27,
42,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|violet|><|moon|>": ["<|11-20|>", 18]}] | [{"<|blue|><|container|>": ["<|10-21|>", 19]}] | LOCATE OBJECTS:
Target Object: <|violet|><|moon|> found at <|11-20|> with height 18
Target Placement Location: <|blue|><|container|> at <|10-21|> with height 19
PLAN ACTIONS:
Step 1: Move above <|violet|><|moon|> at <|11-20|> with height 30
Step 2: Lower to <|violet|><|moon|> at <|11-20|> with height 18
Step 3: Close g... | [{"blue-container": [87, 42, 19]}, {"blue-cylinder": [48, 44, 17]}, {"magenta-star": [65, 26, 18]}, {"violet-moon": [83, 46, 18]}, {"black-cylinder": [38, 38, 18]}] | Pick up the violet moon and place it into the blue container | [
[
83,
46,
30,
0,
60,
90,
1
],
[
83,
46,
18,
0,
60,
90,
1
],
[
83,
46,
18,
0,
60,
90,
0
],
[
83,
46,
30,
0,
60,
90,
0
],
[
87,
42,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|black|><|triangular prism|>": ["<|20-10|>", 18]}] | [{"<|azure|><|container|>": ["<|13-13|>", 19]}] | LOCATE OBJECTS:
Target Object: <|black|><|triangular prism|> found at <|20-10|> with height 18
Target Placement Location: <|azure|><|container|> at <|13-13|> with height 19
PLAN ACTIONS:
Step 1: Move above <|black|><|triangular prism|> at <|20-10|> with height 30
Step 2: Lower to <|black|><|triangular prism|> at <|20-1... | [{"red-cylinder": [34, 30, 18]}, {"black-triangular prism": [42, 83, 18]}, {"azure-container": [55, 52, 19]}, {"white-triangular prism": [51, 79, 17]}, {"purple-cylinder": [58, 90, 17]}, {"maroon-triangular prism": [55, 31, 17]}] | Pick up the black triangular prism and place it into the azure container | [
[
42,
83,
30,
0,
60,
90,
1
],
[
42,
83,
18,
0,
60,
90,
1
],
[
42,
83,
18,
0,
60,
90,
0
],
[
42,
83,
30,
0,
60,
90,
0
],
[
55,
52,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|teal|><|cube|>": ["<|13-7|>", 18]}] | [{"<|green|><|container|>": ["<|14-2|>", 17]}] | LOCATE OBJECTS:
Target Object: <|teal|><|cube|> found at <|13-7|> with height 18
Target Placement Location: <|green|><|container|> at <|14-2|> with height 17
PLAN ACTIONS:
Step 1: Move above <|teal|><|cube|> at <|13-7|> with height 30
Step 2: Lower to <|teal|><|cube|> at <|13-7|> with height 18
Step 3: Close gripper on... | [{"green-container": [10, 57, 17]}, {"navy-triangular prism": [68, 36, 17]}, {"olive-star": [66, 46, 17]}, {"teal-cube": [31, 55, 18]}, {"black-moon": [59, 78, 17]}] | Pick up the teal cube and place it into the green container | [
[
31,
55,
30,
0,
60,
90,
1
],
[
31,
55,
18,
0,
60,
90,
1
],
[
31,
55,
18,
0,
60,
90,
0
],
[
31,
55,
30,
0,
60,
90,
0
],
[
10,
57,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|magenta|><|moon|>": ["<|6-8|>", 17]}] | [{"<|purple|><|star|>": ["<|6-3|>", 19]}] | LOCATE OBJECTS:
Target Object: <|magenta|><|moon|> found at <|6-8|> with height 17
Target Placement Location: <|purple|><|star|> at <|6-3|> with height 19
PLAN ACTIONS:
Step 1: Move above <|magenta|><|moon|> at <|6-8|> with height 30
Step 2: Lower to <|magenta|><|moon|> at <|6-8|> with height 17
Step 3: Close gripper o... | [{"blue-moon": [47, 43, 18]}, {"purple-star": [13, 26, 19]}, {"cyan-star": [66, 32, 17]}, {"azure-cube": [81, 56, 18]}, {"magenta-moon": [34, 25, 17]}] | Stack the magenta moon on top of the purple star | [
[
34,
25,
30,
0,
60,
90,
1
],
[
34,
25,
17,
0,
60,
90,
1
],
[
34,
25,
17,
0,
60,
90,
0
],
[
34,
25,
30,
0,
60,
90,
0
],
[
13,
26,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
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