Search is not available for this dataset
Source_Obj stringlengths 50 69 | Target_Obj stringlengths 50 69 | Thinking stringlengths 734 827 | Object stringlengths 114 285 | instruction stringlengths 30 79 | solution listlengths 7 7 | Conversation listlengths 2 2 |
|---|---|---|---|---|---|---|
[{"<|green|><|triangular prism|>": ["<|1-17|><|local-3-0|>", 30]}] | [{"<|red|><|container|>": ["<|3-11|><|local-1-2|>", 3]}] | LOCATE OBJECTS:
Target Object: <|green|><|triangular prism|> found at <|1-17|><|local-3-0|> with height 30
Target Placement Location: <|red|><|container|> at <|3-11|><|local-1-2|> with height 3
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|3-11|><|local-1-2|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.
Step 7: Open gripper to drop the <|green|><|triangular prism|> into <|red|><|container|>.
| [{"red-container": [13, 46, 3]}, {"blue-cube": [27, 35, 20]}, {"green-triangular prism": [7, 68, 30]}, {"yellow-container": [44, 14, 25]}, {"green-container": [54, 27, 21]}] | Pick up the triangular prism and place it into the red container | [
[
7,
68,
40,
0,
60,
90,
1
],
[
7,
68,
0,
0,
60,
90,
1
],
[
7,
68,
0,
0,
60,
90,
0
],
[
7,
68,
40,
0,
60,
90,
0
],
[
13,
46,
40,
0,
60,
90,
0
],
[
13,
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|maroon|><|cylinder|>": ["<|18-8|><|local-2-0|>", 5]}] | [{"<|rose|><|moon|>": ["<|2-23|><|local-2-2|>", 5]}] | LOCATE OBJECTS:
Target Object: <|maroon|><|cylinder|> found at <|18-8|><|local-2-0|> with height 5
Target Placement Location: <|rose|><|moon|> at <|2-23|><|local-2-2|> with height 5
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|2-23|><|local-2-2|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.
Step 7: Open gripper to finish the task.
| [{"rose-cube": [69, 45, 2]}, {"maroon-cylinder": [74, 32, 5]}, {"magenta-cylinder": [10, 87, 8]}, {"gray-triangular prism": [62, 11, 3]}, {"rose-moon": [10, 94, 5]}] | Stack the maroon cylinder on top of the rose moon | [
[
74,
32,
15,
0,
60,
90,
1
],
[
74,
32,
0,
0,
60,
90,
1
],
[
74,
32,
0,
0,
60,
90,
0
],
[
74,
32,
15,
0,
60,
90,
0
],
[
10,
94,
15,
0,
60,
90,
0
],
[
10... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|blue|><|star|>": ["<|12-13|><|local-3-0|>", 13]}] | [{"<|yellow|><|container|>": ["<|18-11|><|local-0-2|>", 13]}] | LOCATE OBJECTS:
Target Object: <|blue|><|star|> found at <|12-13|><|local-3-0|> with height 13
Target Placement Location: <|yellow|><|container|> at <|18-11|><|local-0-2|> with height 13
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|18-11|><|local-0-2|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.
Step 7: Open gripper to drop the <|blue|><|star|> into <|yellow|><|container|>.
| [{"yellow-container": [72, 46, 13]}, {"black-star": [45, 29, 24]}, {"rose-cube": [67, 20, 9]}, {"green-star": [44, 82, 26]}, {"cyan-container": [24, 73, 8]}, {"navy-container": [96, 27, 29]}, {"blue-star": [51, 52, 13]}] | Pick up the blue star and place it into the yellow container | [
[
51,
52,
23,
0,
60,
90,
1
],
[
51,
52,
0,
0,
60,
90,
1
],
[
51,
52,
0,
0,
60,
90,
0
],
[
51,
52,
23,
0,
60,
90,
0
],
[
72,
46,
23,
0,
60,
90,
0
],
[
72... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|white|><|cube|>": ["<|20-17|><|local-1-1|>", 24]}] | [{"<|cyan|><|cylinder|>": ["<|21-24|><|local-0-0|>", 2]}] | LOCATE OBJECTS:
Target Object: <|white|><|cube|> found at <|20-17|><|local-1-1|> with height 24
Target Placement Location: <|cyan|><|cylinder|> at <|21-24|><|local-0-0|> with height 2
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|21-24|><|local-0-0|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.
Step 7: Open gripper to finish the task.
| [{"white-cube": [81, 69, 24]}, {"violet-star": [86, 23, 19]}, {"blue-container": [56, 4, 5]}, {"violet-moon": [26, 90, 16]}, {"cyan-cylinder": [84, 96, 2]}, {"rose-triangular prism": [81, 75, 5]}] | Stack the cube on top of the cylinder | [
[
81,
69,
34,
0,
60,
90,
1
],
[
81,
69,
0,
0,
60,
90,
1
],
[
81,
69,
0,
0,
60,
90,
0
],
[
81,
69,
34,
0,
60,
90,
0
],
[
84,
96,
34,
0,
60,
90,
0
],
[
84... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|magenta|><|star|>": ["<|21-0|><|local-1-0|>", 7]}] | [{"<|white|><|container|>": ["<|15-14|><|local-2-0|>", 10]}] | LOCATE OBJECTS:
Target Object: <|magenta|><|star|> found at <|21-0|><|local-1-0|> with height 7
Target Placement Location: <|white|><|container|> at <|15-14|><|local-2-0|> with height 10
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|15-14|><|local-2-0|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.
Step 7: Open gripper to drop the <|magenta|><|star|> into <|white|><|container|>.
| [{"white-container": [62, 56, 10]}, {"green-star": [61, 13, 11]}, {"maroon-cylinder": [65, 45, 5]}, {"rose-container": [29, 39, 28]}, {"magenta-star": [85, 0, 7]}, {"silver-container": [43, 45, 17]}] | Pick up the magenta star and place it into the white container | [
[
85,
0,
17,
0,
60,
90,
1
],
[
85,
0,
0,
0,
60,
90,
1
],
[
85,
0,
0,
0,
60,
90,
0
],
[
85,
0,
17,
0,
60,
90,
0
],
[
62,
56,
17,
0,
60,
90,
0
],
[
62,
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|red|><|triangular prism|>": ["<|6-22|><|local-2-1|>", 22]}] | [{"<|purple|><|container|>": ["<|13-5|><|local-3-3|>", 16]}] | LOCATE OBJECTS:
Target Object: <|red|><|triangular prism|> found at <|6-22|><|local-2-1|> with height 22
Target Placement Location: <|purple|><|container|> at <|13-5|><|local-3-3|> with height 16
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|13-5|><|local-3-3|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.
Step 7: Open gripper to drop the <|red|><|triangular prism|> into <|purple|><|container|>.
| [{"red-triangular prism": [26, 89, 22]}, {"magenta-cylinder": [61, 97, 21]}, {"teal-triangular prism": [22, 44, 6]}, {"purple-container": [55, 23, 16]}, {"maroon-moon": [43, 62, 27]}, {"magenta-moon": [51, 56, 28]}, {"rose-container": [65, 24, 23]}] | Pick up the red triangular prism and place it into the purple container | [
[
26,
89,
32,
0,
60,
90,
1
],
[
26,
89,
0,
0,
60,
90,
1
],
[
26,
89,
0,
0,
60,
90,
0
],
[
26,
89,
32,
0,
60,
90,
0
],
[
55,
23,
32,
0,
60,
90,
0
],
[
55... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|lime|><|star|>": ["<|17-3|><|local-1-2|>", 16]}] | [{"<|olive|><|star|>": ["<|23-4|><|local-0-2|>", 23]}] | LOCATE OBJECTS:
Target Object: <|lime|><|star|> found at <|17-3|><|local-1-2|> with height 16
Target Placement Location: <|olive|><|star|> at <|23-4|><|local-0-2|> with height 23
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|23-4|><|local-0-2|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.
Step 7: Open gripper to finish the task.
| [{"olive-star": [92, 18, 23]}, {"blue-cube": [3, 77, 29]}, {"lime-star": [69, 14, 16]}, {"azure-cylinder": [53, 92, 23]}, {"blue-moon": [37, 43, 28]}] | Stack the lime star on top of the olive star | [
[
69,
14,
26,
0,
60,
90,
1
],
[
69,
14,
0,
0,
60,
90,
1
],
[
69,
14,
0,
0,
60,
90,
0
],
[
69,
14,
26,
0,
60,
90,
0
],
[
92,
18,
26,
0,
60,
90,
0
],
[
92... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|cyan|><|cube|>": ["<|16-11|><|local-3-3|>", 18]}] | [{"<|olive|><|triangular prism|>": ["<|16-9|><|local-0-1|>", 11]}] | LOCATE OBJECTS:
Target Object: <|cyan|><|cube|> found at <|16-11|><|local-3-3|> with height 18
Target Placement Location: <|olive|><|triangular prism|> at <|16-9|><|local-0-1|> with height 11
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|16-9|><|local-0-1|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.
Step 7: Open gripper to finish the task.
| [{"olive-triangular prism": [64, 37, 11]}, {"cyan-cube": [67, 47, 18]}, {"rose-star": [84, 69, 10]}, {"olive-cylinder": [31, 80, 28]}, {"gray-triangular prism": [29, 89, 9]}, {"white-star": [86, 2, 13]}] | Stack the olive triangular prism and the cyan cube in sequence. | [
[
67,
47,
28,
0,
60,
90,
1
],
[
67,
47,
0,
0,
60,
90,
1
],
[
67,
47,
0,
0,
60,
90,
0
],
[
67,
47,
28,
0,
60,
90,
0
],
[
64,
37,
28,
0,
60,
90,
0
],
[
64... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|rose|><|moon|>": ["<|22-12|><|local-0-1|>", 4]}] | [{"<|white|><|container|>": ["<|14-15|><|local-1-1|>", 15]}] | LOCATE OBJECTS:
Target Object: <|rose|><|moon|> found at <|22-12|><|local-0-1|> with height 4
Target Placement Location: <|white|><|container|> at <|14-15|><|local-1-1|> with height 15
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|14-15|><|local-1-1|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.
Step 7: Open gripper to drop the <|rose|><|moon|> into <|white|><|container|>.
| [{"white-container": [57, 61, 15]}, {"red-triangular prism": [16, 30, 2]}, {"rose-moon": [88, 49, 4]}, {"magenta-cylinder": [81, 82, 5]}, {"maroon-cylinder": [27, 59, 24]}, {"rose-container": [53, 8, 14]}, {"lime-container": [12, 16, 10]}] | Pick up the rose moon and place it into the white container | [
[
88,
49,
14,
0,
60,
90,
1
],
[
88,
49,
0,
0,
60,
90,
1
],
[
88,
49,
0,
0,
60,
90,
0
],
[
88,
49,
14,
0,
60,
90,
0
],
[
57,
61,
15,
0,
60,
90,
0
],
[
57... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|silver|><|cube|>": ["<|15-5|><|local-3-2|>", 3]}] | [{"<|azure|><|container|>": ["<|22-13|><|local-0-1|>", 30]}] | LOCATE OBJECTS:
Target Object: <|silver|><|cube|> found at <|15-5|><|local-3-2|> with height 3
Target Placement Location: <|azure|><|container|> at <|22-13|><|local-0-1|> with height 30
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|22-13|><|local-0-1|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.
Step 7: Open gripper to drop the <|silver|><|cube|> into <|azure|><|container|>.
| [{"azure-container": [88, 53, 30]}, {"yellow-star": [73, 11, 27]}, {"silver-cube": [63, 22, 3]}, {"white-container": [21, 43, 25]}, {"yellow-container": [74, 45, 10]}, {"lime-moon": [78, 20, 20]}] | Pick up the cube and place it into the azure container | [
[
63,
22,
13,
0,
60,
90,
1
],
[
63,
22,
0,
0,
60,
90,
1
],
[
63,
22,
0,
0,
60,
90,
0
],
[
63,
22,
14,
0,
60,
90,
0
],
[
88,
53,
14,
0,
60,
90,
0
],
[
88... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|maroon|><|triangular prism|>": ["<|6-16|><|local-0-1|>", 15]}] | [{"<|yellow|><|container|>": ["<|18-13|><|local-0-3|>", 2]}] | LOCATE OBJECTS:
Target Object: <|maroon|><|triangular prism|> found at <|6-16|><|local-0-1|> with height 15
Target Placement Location: <|yellow|><|container|> at <|18-13|><|local-0-3|> with height 2
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|18-13|><|local-0-3|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.
Step 7: Open gripper to drop the <|maroon|><|triangular prism|> into <|yellow|><|container|>.
| [{"yellow-container": [72, 55, 2]}, {"azure-cylinder": [10, 77, 11]}, {"purple-cube": [7, 64, 6]}, {"purple-container": [89, 49, 12]}, {"maroon-triangular prism": [24, 65, 15]}, {"azure-star": [18, 52, 16]}] | Pick up the triangular prism and place it into the yellow container | [
[
24,
65,
25,
0,
60,
90,
1
],
[
24,
65,
0,
0,
60,
90,
1
],
[
24,
65,
0,
0,
60,
90,
0
],
[
24,
65,
25,
0,
60,
90,
0
],
[
72,
55,
25,
0,
60,
90,
0
],
[
72... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|navy|><|star|>": ["<|23-1|><|local-2-3|>", 23]}] | [{"<|gray|><|container|>": ["<|16-19|><|local-1-3|>", 21]}] | LOCATE OBJECTS:
Target Object: <|navy|><|star|> found at <|23-1|><|local-2-3|> with height 23
Target Placement Location: <|gray|><|container|> at <|16-19|><|local-1-3|> with height 21
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|16-19|><|local-1-3|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.
Step 7: Open gripper to drop the <|navy|><|star|> into <|gray|><|container|>.
| [{"navy-star": [94, 7, 23]}, {"navy-cube": [85, 89, 23]}, {"green-container": [37, 22, 4]}, {"gray-container": [65, 79, 21]}, {"maroon-container": [6, 73, 5]}] | Pick up the star and place it into the gray container | [
[
94,
7,
33,
0,
60,
90,
1
],
[
94,
7,
0,
0,
60,
90,
1
],
[
94,
7,
0,
0,
60,
90,
0
],
[
94,
7,
33,
0,
60,
90,
0
],
[
65,
79,
33,
0,
60,
90,
0
],
[
65,
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|azure|><|cylinder|>": ["<|0-21|><|local-2-2|>", 17]}] | [{"<|red|><|moon|>": ["<|15-13|><|local-3-1|>", 24]}] | LOCATE OBJECTS:
Target Object: <|azure|><|cylinder|> found at <|0-21|><|local-2-2|> with height 17
Target Placement Location: <|red|><|moon|> at <|15-13|><|local-3-1|> with height 24
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|15-13|><|local-3-1|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.
Step 7: Open gripper to finish the task.
| [{"azure-cylinder": [2, 86, 17]}, {"violet-moon": [62, 61, 10]}, {"red-moon": [63, 53, 24]}, {"maroon-star": [48, 44, 1]}, {"black-cylinder": [29, 51, 7]}] | Stack the azure cylinder on top of the red moon | [
[
2,
86,
27,
0,
60,
90,
1
],
[
2,
86,
0,
0,
60,
90,
1
],
[
2,
86,
0,
0,
60,
90,
0
],
[
2,
86,
27,
0,
60,
90,
0
],
[
63,
53,
27,
0,
60,
90,
0
],
[
63,
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|azure|><|star|>": ["<|7-20|><|local-0-1|>", 27]}] | [{"<|white|><|cylinder|>": ["<|1-20|><|local-3-3|>", 12]}] | LOCATE OBJECTS:
Target Object: <|azure|><|star|> found at <|7-20|><|local-0-1|> with height 27
Target Placement Location: <|white|><|cylinder|> at <|1-20|><|local-3-3|> with height 12
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|1-20|><|local-3-3|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.
Step 7: Open gripper to finish the task.
| [{"azure-star": [28, 81, 27]}, {"red-cylinder": [31, 89, 27]}, {"silver-triangular prism": [43, 13, 29]}, {"azure-triangular prism": [62, 75, 11]}, {"white-cylinder": [7, 83, 12]}, {"cyan-cylinder": [20, 59, 7]}, {"yellow-cylinder": [29, 56, 6]}] | Stack the azure star on top of the white cylinder | [
[
28,
81,
37,
0,
60,
90,
1
],
[
28,
81,
0,
0,
60,
90,
1
],
[
28,
81,
0,
0,
60,
90,
0
],
[
28,
81,
37,
0,
60,
90,
0
],
[
7,
83,
37,
0,
60,
90,
0
],
[
7,
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|silver|><|cylinder|>": ["<|20-20|><|local-0-3|>", 12]}] | [{"<|blue|><|triangular prism|>": ["<|10-15|><|local-3-1|>", 16]}] | LOCATE OBJECTS:
Target Object: <|silver|><|cylinder|> found at <|20-20|><|local-0-3|> with height 12
Target Placement Location: <|blue|><|triangular prism|> at <|10-15|><|local-3-1|> with height 16
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|10-15|><|local-3-1|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.
Step 7: Open gripper to finish the task.
| [{"olive-cube": [50, 6, 18]}, {"purple-moon": [58, 44, 6]}, {"red-container": [14, 32, 18]}, {"blue-triangular prism": [43, 61, 16]}, {"silver-cylinder": [80, 83, 12]}, {"green-star": [26, 39, 18]}] | Stack the cylinder on top of the triangular prism | [
[
80,
83,
22,
0,
60,
90,
1
],
[
80,
83,
0,
0,
60,
90,
1
],
[
80,
83,
0,
0,
60,
90,
0
],
[
80,
83,
22,
0,
60,
90,
0
],
[
43,
61,
22,
0,
60,
90,
0
],
[
43... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|maroon|><|cube|>": ["<|18-18|><|local-3-1|>", 29]}] | [{"<|maroon|><|triangular prism|>": ["<|22-14|><|local-2-0|>", 13]}] | LOCATE OBJECTS:
Target Object: <|maroon|><|cube|> found at <|18-18|><|local-3-1|> with height 29
Target Placement Location: [90, 56] with height 13. Map [90, 56] (100x100) to a 25x25 grid, then a 4x4 subgrid. Result: <|22-14|><|local-2-0|>.
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|22-14|><|local-2-0|> at the same height as stage 4.
Step 6: Move on top of target location at target_pos: <|22-14|><|local-2-0|> with height target_height.
Step 7: Open gripper to finish the task.
| [{"olive-star": [96, 5, 11]}, {"maroon-cube": [75, 73, 29]}, {"maroon-triangular prism": [90, 56, 13]}, {"yellow-moon": [76, 29, 17]}, {"white-cube": [90, 44, 23]}] | Move the maroon cube to [90, 56, 13] | [
[
75,
73,
39,
0,
60,
90,
1
],
[
75,
73,
0,
0,
60,
90,
1
],
[
75,
73,
0,
0,
60,
90,
0
],
[
75,
73,
39,
0,
60,
90,
0
],
[
90,
56,
39,
0,
60,
90,
0
],
[
90... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|blue|><|triangular prism|>": ["<|22-19|><|local-2-0|>", 1]}] | [{"<|green|><|moon|>": ["<|3-8|><|local-3-2|>", 20]}] | LOCATE OBJECTS:
Target Object: <|blue|><|triangular prism|> found at <|22-19|><|local-2-0|> with height 1
Target Placement Location: [15, 34] with height 20. Map [15, 34] (100x100) to a 25x25 grid, then a 4x4 subgrid. Result: <|3-8|><|local-3-2|>.
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|3-8|><|local-3-2|> at the same height as stage 4.
Step 6: Move on top of target location at target_pos: <|3-8|><|local-3-2|> with height target_height.
Step 7: Open gripper to finish the task.
| [{"blue-triangular prism": [90, 76, 1]}, {"maroon-star": [10, 66, 13]}, {"green-moon": [15, 34, 20]}, {"red-star": [52, 45, 23]}, {"red-triangular prism": [74, 77, 1]}] | Move the blue triangular prism to [15, 34, 20] | [
[
90,
76,
15,
0,
60,
90,
1
],
[
90,
76,
0,
0,
60,
90,
1
],
[
90,
76,
0,
0,
60,
90,
0
],
[
90,
76,
12,
0,
60,
90,
0
],
[
15,
34,
11,
0,
60,
90,
0
],
[
15... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|green|><|star|>": ["<|10-14|><|local-2-3|>", 10]}] | [{"<|blue|><|star|>": ["<|1-9|><|local-3-3|>", 24]}] | LOCATE OBJECTS:
Target Object: <|green|><|star|> found at <|10-14|><|local-2-3|> with height 10
Target Placement Location: <|blue|><|star|> at <|1-9|><|local-3-3|> with height 24
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|1-9|><|local-3-3|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.
Step 7: Open gripper to finish the task.
| [{"green-star": [42, 59, 10]}, {"gray-star": [46, 71, 27]}, {"white-star": [41, 21, 23]}, {"blue-star": [7, 39, 24]}, {"red-moon": [96, 29, 18]}] | Stack the green star on top of the blue star | [
[
42,
59,
20,
0,
60,
90,
1
],
[
42,
59,
0,
0,
60,
90,
1
],
[
42,
59,
0,
0,
60,
90,
0
],
[
42,
59,
20,
0,
60,
90,
0
],
[
7,
39,
20,
0,
60,
90,
0
],
[
7,
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|yellow|><|cylinder|>": ["<|13-8|><|local-2-1|>", 10]}] | [{"<|black|><|star|>": ["<|2-16|><|local-0-1|>", 13]}] | LOCATE OBJECTS:
Target Object: <|yellow|><|cylinder|> found at <|13-8|><|local-2-1|> with height 10
Target Placement Location: <|black|><|star|> at <|2-16|><|local-0-1|> with height 13
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|2-16|><|local-0-1|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.
Step 7: Open gripper to finish the task.
| [{"navy-cube": [90, 5, 21]}, {"blue-moon": [49, 17, 18]}, {"black-star": [8, 65, 13]}, {"yellow-cylinder": [54, 33, 10]}, {"yellow-triangular prism": [98, 66, 18]}] | Stack the star and the cylinder in sequence. | [
[
54,
33,
20,
0,
60,
90,
1
],
[
54,
33,
0,
0,
60,
90,
1
],
[
54,
33,
0,
0,
60,
90,
0
],
[
54,
33,
20,
0,
60,
90,
0
],
[
8,
65,
20,
0,
60,
90,
0
],
[
8,
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|teal|><|moon|>": ["<|6-6|><|local-3-0|>", 4]}] | [{"<|blue|><|container|>": ["<|6-7|><|local-0-3|>", 17]}] | LOCATE OBJECTS:
Target Object: <|teal|><|moon|> found at <|6-6|><|local-3-0|> with height 4
Target Placement Location: <|blue|><|container|> at <|6-7|><|local-0-3|> with height 17
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|6-7|><|local-0-3|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.
Step 7: Open gripper to drop the <|teal|><|moon|> into <|blue|><|container|>.
| [{"teal-moon": [27, 24, 4]}, {"cyan-star": [96, 53, 16]}, {"white-star": [23, 43, 29]}, {"lime-star": [49, 19, 13]}, {"red-container": [32, 6, 4]}, {"blue-container": [24, 31, 17]}, {"maroon-star": [11, 66, 5]}] | Pick up the teal moon and place it into the blue container | [
[
27,
24,
14,
0,
60,
90,
1
],
[
27,
24,
0,
0,
60,
90,
1
],
[
27,
24,
0,
0,
60,
90,
0
],
[
27,
24,
14,
0,
60,
90,
0
],
[
24,
31,
15,
0,
60,
90,
0
],
[
24... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|olive|><|star|>": ["<|18-18|><|local-1-3|>", 18]}] | [{"<|yellow|><|container|>": ["<|4-9|><|local-0-2|>", 22]}] | LOCATE OBJECTS:
Target Object: <|olive|><|star|> found at <|18-18|><|local-1-3|> with height 18
Target Placement Location: <|yellow|><|container|> at <|4-9|><|local-0-2|> with height 22
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|4-9|><|local-0-2|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.
Step 7: Open gripper to drop the <|olive|><|star|> into <|yellow|><|container|>.
| [{"navy-star": [52, 7, 13]}, {"azure-cylinder": [43, 1, 30]}, {"magenta-star": [31, 80, 10]}, {"cyan-container": [85, 93, 7]}, {"yellow-container": [16, 38, 22]}, {"olive-star": [73, 75, 18]}, {"red-container": [56, 12, 9]}] | Pick up the olive star and place it into the yellow container | [
[
73,
75,
28,
0,
60,
90,
1
],
[
73,
75,
0,
0,
60,
90,
1
],
[
73,
75,
0,
0,
60,
90,
0
],
[
73,
75,
28,
0,
60,
90,
0
],
[
16,
38,
28,
0,
60,
90,
0
],
[
16... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|blue|><|cube|>": ["<|18-11|><|local-1-2|>", 20]}] | [{"<|cyan|><|cube|>": ["<|23-0|><|local-2-2|>", 26]}] | LOCATE OBJECTS:
Target Object: <|blue|><|cube|> found at <|18-11|><|local-1-2|> with height 20
Target Placement Location: <|cyan|><|cube|> at <|23-0|><|local-2-2|> with height 26
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|23-0|><|local-2-2|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.
Step 7: Open gripper to finish the task.
| [{"cyan-cube": [94, 2, 26]}, {"gray-star": [42, 17, 24]}, {"white-moon": [64, 73, 7]}, {"rose-triangular prism": [97, 11, 15]}, {"olive-cube": [45, 70, 30]}, {"blue-cube": [73, 46, 20]}] | Stack the cyan cube and the blue cube in sequence. | [
[
73,
46,
30,
0,
60,
90,
1
],
[
73,
46,
0,
0,
60,
90,
1
],
[
73,
46,
0,
0,
60,
90,
0
],
[
73,
46,
30,
0,
60,
90,
0
],
[
94,
2,
30,
0,
60,
90,
0
],
[
94,... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|azure|><|triangular prism|>": ["<|8-23|><|local-0-1|>", 10]}] | [{"<|olive|><|cylinder|>": ["<|6-14|><|local-1-1|>", 28]}] | LOCATE OBJECTS:
Target Object: <|azure|><|triangular prism|> found at <|8-23|><|local-0-1|> with height 10
Target Placement Location: <|olive|><|cylinder|> at <|6-14|><|local-1-1|> with height 28
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|6-14|><|local-1-1|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.
Step 7: Open gripper to finish the task.
| [{"rose-triangular prism": [81, 17, 8]}, {"black-triangular prism": [46, 80, 22]}, {"azure-triangular prism": [32, 93, 10]}, {"yellow-star": [15, 98, 9]}, {"olive-cylinder": [25, 57, 28]}, {"purple-star": [54, 42, 2]}, {"lime-triangular prism": [19, 86, 11]}] | Stack the azure triangular prism on top of the olive cylinder | [
[
32,
93,
20,
0,
60,
90,
1
],
[
32,
93,
0,
0,
60,
90,
1
],
[
32,
93,
0,
0,
60,
90,
0
],
[
32,
93,
20,
0,
60,
90,
0
],
[
25,
57,
20,
0,
60,
90,
0
],
[
25... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|violet|><|moon|>": ["<|5-2|><|local-3-2|>", 13]}] | [{"<|black|><|moon|>": ["<|5-0|><|local-0-3|>", 18]}] | LOCATE OBJECTS:
Target Object: <|violet|><|moon|> found at <|5-2|><|local-3-2|> with height 13
Target Placement Location: <|black|><|moon|> at <|5-0|><|local-0-3|> with height 18
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|5-0|><|local-0-3|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.
Step 7: Open gripper to finish the task.
| [{"navy-moon": [11, 48, 16]}, {"violet-moon": [23, 10, 13]}, {"magenta-star": [91, 78, 7]}, {"black-moon": [20, 3, 18]}, {"azure-star": [76, 50, 10]}] | Stack the violet moon on top of the black moon | [
[
23,
10,
23,
0,
60,
90,
1
],
[
23,
10,
0,
0,
60,
90,
1
],
[
23,
10,
0,
0,
60,
90,
0
],
[
23,
10,
23,
0,
60,
90,
0
],
[
20,
3,
23,
0,
60,
90,
0
],
[
20,... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|purple|><|moon|>": ["<|16-5|><|local-3-0|>", 18]}] | [{"<|purple|><|container|>": ["<|20-18|><|local-1-0|>", 1]}] | LOCATE OBJECTS:
Target Object: <|purple|><|moon|> found at <|16-5|><|local-3-0|> with height 18
Target Placement Location: <|purple|><|container|> at <|20-18|><|local-1-0|> with height 1
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|20-18|><|local-1-0|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.
Step 7: Open gripper to drop the <|purple|><|moon|> into <|purple|><|container|>.
| [{"navy-container": [13, 27, 7]}, {"maroon-container": [67, 61, 4]}, {"purple-container": [81, 72, 1]}, {"purple-star": [98, 41, 23]}, {"silver-triangular prism": [31, 10, 9]}, {"rose-triangular prism": [10, 97, 20]}, {"purple-moon": [67, 20, 18]}] | Pick up the purple moon and place it into the purple container | [
[
67,
20,
28,
0,
60,
90,
1
],
[
67,
20,
0,
0,
60,
90,
1
],
[
67,
20,
0,
0,
60,
90,
0
],
[
67,
20,
28,
0,
60,
90,
0
],
[
81,
72,
28,
0,
60,
90,
0
],
[
81... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|cyan|><|triangular prism|>": ["<|3-6|><|local-2-0|>", 23]}] | [{"<|maroon|><|moon|>": ["<|21-10|><|local-1-2|>", 16]}] | LOCATE OBJECTS:
Target Object: <|cyan|><|triangular prism|> found at <|3-6|><|local-2-0|> with height 23
Target Placement Location: <|maroon|><|moon|> at <|21-10|><|local-1-2|> with height 16
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|21-10|><|local-1-2|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.
Step 7: Open gripper to finish the task.
| [{"cyan-triangular prism": [14, 24, 23]}, {"maroon-cylinder": [40, 56, 24]}, {"maroon-moon": [85, 42, 16]}, {"maroon-star": [22, 55, 4]}, {"yellow-container": [37, 93, 11]}, {"magenta-cube": [78, 79, 30]}] | Stack the triangular prism on top of the moon | [
[
14,
24,
33,
0,
60,
90,
1
],
[
14,
24,
0,
0,
60,
90,
1
],
[
14,
24,
0,
0,
60,
90,
0
],
[
14,
24,
33,
0,
60,
90,
0
],
[
85,
42,
33,
0,
60,
90,
0
],
[
85... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|gray|><|moon|>": ["<|13-7|><|local-1-1|>", 22]}] | [{"<|gray|><|container|>": ["<|17-0|><|local-1-0|>", 12]}] | LOCATE OBJECTS:
Target Object: <|gray|><|moon|> found at <|13-7|><|local-1-1|> with height 22
Target Placement Location: <|gray|><|container|> at <|17-0|><|local-1-0|> with height 12
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|17-0|><|local-1-0|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.
Step 7: Open gripper to drop the <|gray|><|moon|> into <|gray|><|container|>.
| [{"lime-triangular prism": [63, 80, 28]}, {"azure-container": [96, 34, 3]}, {"yellow-container": [97, 44, 9]}, {"gray-moon": [53, 29, 22]}, {"green-moon": [97, 84, 12]}, {"gray-container": [69, 0, 12]}] | Pick up the gray moon and place it into the gray container | [
[
53,
29,
32,
0,
60,
90,
1
],
[
53,
29,
0,
0,
60,
90,
1
],
[
53,
29,
0,
0,
60,
90,
0
],
[
53,
29,
32,
0,
60,
90,
0
],
[
69,
0,
32,
0,
60,
90,
0
],
[
69,... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|white|><|cylinder|>": ["<|4-7|><|local-1-3|>", 9]}] | [{"<|purple|><|moon|>": ["<|13-1|><|local-3-1|>", 7]}] | LOCATE OBJECTS:
Target Object: <|white|><|cylinder|> found at <|4-7|><|local-1-3|> with height 9
Target Placement Location: <|purple|><|moon|> at <|13-1|><|local-3-1|> with height 7
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|13-1|><|local-3-1|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.
Step 7: Open gripper to finish the task.
| [{"red-cylinder": [13, 33, 6]}, {"purple-moon": [55, 5, 7]}, {"silver-moon": [66, 10, 17]}, {"rose-star": [90, 79, 2]}, {"magenta-moon": [94, 20, 16]}, {"white-cylinder": [17, 31, 9]}] | Stack the purple moon and the white cylinder in sequence. | [
[
17,
31,
19,
0,
60,
90,
1
],
[
17,
31,
0,
0,
60,
90,
1
],
[
17,
31,
0,
0,
60,
90,
0
],
[
17,
31,
19,
0,
60,
90,
0
],
[
55,
5,
19,
0,
60,
90,
0
],
[
55,... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|magenta|><|cube|>": ["<|16-2|><|local-3-3|>", 14]}] | [{"<|maroon|><|container|>": ["<|14-14|><|local-2-1|>", 25]}] | LOCATE OBJECTS:
Target Object: <|magenta|><|cube|> found at <|16-2|><|local-3-3|> with height 14
Target Placement Location: <|maroon|><|container|> at <|14-14|><|local-2-1|> with height 25
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|14-14|><|local-2-1|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.
Step 7: Open gripper to drop the <|magenta|><|cube|> into <|maroon|><|container|>.
| [{"red-container": [88, 1, 22]}, {"magenta-cube": [67, 11, 14]}, {"gray-cylinder": [53, 83, 1]}, {"maroon-container": [58, 57, 25]}, {"black-star": [2, 66, 16]}, {"teal-container": [55, 87, 5]}] | Pick up the cube and place it into the maroon container | [
[
67,
11,
24,
0,
60,
90,
1
],
[
67,
11,
0,
0,
60,
90,
1
],
[
67,
11,
0,
0,
60,
90,
0
],
[
67,
11,
24,
0,
60,
90,
0
],
[
58,
57,
24,
0,
60,
90,
0
],
[
58... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|lime|><|triangular prism|>": ["<|9-2|><|local-1-0|>", 25]}] | [{"<|maroon|><|container|>": ["<|1-4|><|local-0-2|>", 12]}] | LOCATE OBJECTS:
Target Object: <|lime|><|triangular prism|> found at <|9-2|><|local-1-0|> with height 25
Target Placement Location: <|maroon|><|container|> at <|1-4|><|local-0-2|> with height 12
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|1-4|><|local-0-2|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.
Step 7: Open gripper to drop the <|lime|><|triangular prism|> into <|maroon|><|container|>.
| [{"blue-cube": [2, 0, 19]}, {"yellow-container": [55, 24, 21]}, {"rose-container": [8, 73, 3]}, {"purple-star": [9, 38, 27]}, {"maroon-container": [4, 18, 12]}, {"lime-triangular prism": [37, 8, 25]}, {"rose-cylinder": [87, 8, 19]}] | Pick up the lime triangular prism and place it into the maroon container | [
[
37,
8,
35,
0,
60,
90,
1
],
[
37,
8,
0,
0,
60,
90,
1
],
[
37,
8,
0,
0,
60,
90,
0
],
[
37,
8,
35,
0,
60,
90,
0
],
[
4,
18,
35,
0,
60,
90,
0
],
[
4,
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|red|><|star|>": ["<|8-21|><|local-2-1|>", 25]}] | [{"<|lime|><|container|>": ["<|19-19|><|local-0-1|>", 1]}] | LOCATE OBJECTS:
Target Object: <|red|><|star|> found at <|8-21|><|local-2-1|> with height 25
Target Placement Location: <|lime|><|container|> at <|19-19|><|local-0-1|> with height 1
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|19-19|><|local-0-1|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.
Step 7: Open gripper to drop the <|red|><|star|> into <|lime|><|container|>.
| [{"green-container": [93, 93, 22]}, {"red-triangular prism": [59, 50, 20]}, {"lime-container": [76, 77, 1]}, {"teal-container": [58, 30, 14]}, {"red-star": [34, 85, 25]}] | Pick up the star and place it into the lime container | [
[
34,
85,
35,
0,
60,
90,
1
],
[
34,
85,
0,
0,
60,
90,
1
],
[
34,
85,
0,
0,
60,
90,
0
],
[
34,
85,
35,
0,
60,
90,
0
],
[
76,
77,
35,
0,
60,
90,
0
],
[
76... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|rose|><|moon|>": ["<|7-3|><|local-1-0|>", 22]}] | [{"<|violet|><|container|>": ["<|0-1|><|local-1-2|>", 23]}] | LOCATE OBJECTS:
Target Object: <|rose|><|moon|> found at <|7-3|><|local-1-0|> with height 22
Target Placement Location: <|violet|><|container|> at <|0-1|><|local-1-2|> with height 23
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|0-1|><|local-1-2|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.
Step 7: Open gripper to drop the <|rose|><|moon|> into <|violet|><|container|>.
| [{"violet-container": [1, 6, 23]}, {"teal-container": [4, 79, 26]}, {"purple-cylinder": [24, 24, 30]}, {"maroon-moon": [95, 26, 24]}, {"navy-container": [23, 34, 12]}, {"rose-moon": [29, 12, 22]}] | Pick up the rose moon and place it into the violet container | [
[
29,
12,
32,
0,
60,
90,
1
],
[
29,
12,
0,
0,
60,
90,
1
],
[
29,
12,
0,
0,
60,
90,
0
],
[
29,
12,
32,
0,
60,
90,
0
],
[
1,
6,
32,
0,
60,
90,
0
],
[
1,
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|magenta|><|cube|>": ["<|14-12|><|local-3-3|>", 15]}] | [{"<|maroon|><|container|>": ["<|4-4|><|local-2-2|>", 16]}] | LOCATE OBJECTS:
Target Object: <|magenta|><|cube|> found at <|14-12|><|local-3-3|> with height 15
Target Placement Location: <|maroon|><|container|> at <|4-4|><|local-2-2|> with height 16
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|4-4|><|local-2-2|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.
Step 7: Open gripper to drop the <|magenta|><|cube|> into <|maroon|><|container|>.
| [{"yellow-cylinder": [16, 66, 28]}, {"white-moon": [22, 85, 1]}, {"maroon-container": [18, 18, 16]}, {"magenta-cube": [59, 51, 15]}, {"black-container": [31, 13, 18]}] | Pick up the magenta cube and place it into the maroon container | [
[
59,
51,
25,
0,
60,
90,
1
],
[
59,
51,
0,
0,
60,
90,
1
],
[
59,
51,
0,
0,
60,
90,
0
],
[
59,
51,
25,
0,
60,
90,
0
],
[
18,
18,
25,
0,
60,
90,
0
],
[
18... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|navy|><|cylinder|>": ["<|9-13|><|local-1-0|>", 25]}] | [{"<|green|><|container|>": ["<|21-18|><|local-2-0|>", 19]}] | LOCATE OBJECTS:
Target Object: <|navy|><|cylinder|> found at <|9-13|><|local-1-0|> with height 25
Target Placement Location: <|green|><|container|> at <|21-18|><|local-2-0|> with height 19
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|21-18|><|local-2-0|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.
Step 7: Open gripper to drop the <|navy|><|cylinder|> into <|green|><|container|>.
| [{"black-container": [39, 47, 23]}, {"violet-star": [1, 88, 9]}, {"green-container": [86, 72, 19]}, {"navy-cylinder": [37, 52, 25]}, {"blue-moon": [60, 72, 9]}, {"white-container": [75, 95, 7]}] | Pick up the cylinder and place it into the green container | [
[
37,
52,
35,
0,
60,
90,
1
],
[
37,
52,
0,
0,
60,
90,
1
],
[
37,
52,
0,
0,
60,
90,
0
],
[
37,
52,
35,
0,
60,
90,
0
],
[
86,
72,
35,
0,
60,
90,
0
],
[
86... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|green|><|triangular prism|>": ["<|2-18|><|local-3-2|>", 20]}] | [{"<|yellow|><|star|>": ["<|4-10|><|local-2-1|>", 22]}] | LOCATE OBJECTS:
Target Object: <|green|><|triangular prism|> found at <|2-18|><|local-3-2|> with height 20
Target Placement Location: [18, 41] with height 22. Map [18, 41] (100x100) to a 25x25 grid, then a 4x4 subgrid. Result: <|4-10|><|local-2-1|>.
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|4-10|><|local-2-1|> at the same height as stage 4.
Step 6: Move on top of target location at target_pos: <|4-10|><|local-2-1|> with height target_height.
Step 7: Open gripper to finish the task.
| [{"olive-cylinder": [49, 86, 25]}, {"yellow-star": [18, 41, 22]}, {"lime-cube": [70, 74, 29]}, {"green-triangular prism": [11, 74, 20]}, {"blue-moon": [10, 45, 8]}] | Move the green triangular prism to [18, 41, 22] | [
[
11,
74,
30,
0,
60,
90,
1
],
[
11,
74,
0,
0,
60,
90,
1
],
[
11,
74,
0,
0,
60,
90,
0
],
[
11,
74,
30,
0,
60,
90,
0
],
[
18,
41,
30,
0,
60,
90,
0
],
[
18... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|black|><|cylinder|>": ["<|17-16|><|local-2-1|>", 24]}] | [{"<|rose|><|container|>": ["<|20-14|><|local-0-3|>", 22]}] | LOCATE OBJECTS:
Target Object: <|black|><|cylinder|> found at <|17-16|><|local-2-1|> with height 24
Target Placement Location: <|rose|><|container|> at <|20-14|><|local-0-3|> with height 22
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|20-14|><|local-0-3|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.
Step 7: Open gripper to drop the <|black|><|cylinder|> into <|rose|><|container|>.
| [{"rose-container": [80, 59, 22]}, {"teal-cube": [80, 26, 11]}, {"magenta-container": [24, 43, 13]}, {"magenta-star": [94, 1, 11]}, {"black-cylinder": [70, 65, 24]}, {"green-container": [74, 0, 23]}] | Pick up the black cylinder and place it into the rose container | [
[
70,
65,
34,
0,
60,
90,
1
],
[
70,
65,
0,
0,
60,
90,
1
],
[
70,
65,
0,
0,
60,
90,
0
],
[
70,
65,
34,
0,
60,
90,
0
],
[
80,
59,
34,
0,
60,
90,
0
],
[
80... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|red|><|cube|>": ["<|22-1|><|local-0-2|>", 29]}] | [{"<|white|><|moon|>": ["<|15-22|><|local-0-0|>", 21]}] | LOCATE OBJECTS:
Target Object: <|red|><|cube|> found at <|22-1|><|local-0-2|> with height 29
Target Placement Location: [60, 88] with height 21. Map [60, 88] (100x100) to a 25x25 grid, then a 4x4 subgrid. Result: <|15-22|><|local-0-0|>.
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|15-22|><|local-0-0|> at the same height as stage 4.
Step 6: Move on top of target location at target_pos: <|15-22|><|local-0-0|> with height target_height.
Step 7: Open gripper to finish the task.
| [{"purple-cylinder": [71, 38, 27]}, {"white-moon": [60, 88, 21]}, {"white-cylinder": [53, 95, 8]}, {"silver-cube": [83, 70, 17]}, {"red-cube": [88, 6, 29]}, {"gray-moon": [37, 87, 18]}, {"purple-cube": [45, 12, 10]}] | Move the red cube to [60, 88, 21] | [
[
88,
6,
39,
0,
60,
90,
1
],
[
88,
6,
0,
0,
60,
90,
1
],
[
88,
6,
0,
0,
60,
90,
0
],
[
88,
6,
39,
0,
60,
90,
0
],
[
60,
88,
39,
0,
60,
90,
0
],
[
60,
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|yellow|><|cylinder|>": ["<|0-3|><|local-2-2|>", 2]}] | [{"<|lime|><|container|>": ["<|21-22|><|local-1-0|>", 10]}] | LOCATE OBJECTS:
Target Object: <|yellow|><|cylinder|> found at <|0-3|><|local-2-2|> with height 2
Target Placement Location: <|lime|><|container|> at <|21-22|><|local-1-0|> with height 10
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|21-22|><|local-1-0|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.
Step 7: Open gripper to drop the <|yellow|><|cylinder|> into <|lime|><|container|>.
| [{"yellow-cylinder": [2, 14, 2]}, {"black-container": [95, 1, 5]}, {"violet-container": [77, 98, 26]}, {"lime-container": [85, 88, 10]}] | Pick up the cylinder and place it into the lime container | [
[
2,
14,
13,
0,
60,
90,
1
],
[
2,
14,
0,
0,
60,
90,
1
],
[
2,
14,
0,
0,
60,
90,
0
],
[
2,
14,
14,
0,
60,
90,
0
],
[
85,
88,
14,
0,
60,
90,
0
],
[
85,
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|gray|><|cube|>": ["<|10-3|><|local-1-2|>", 28]}] | [{"<|gray|><|star|>": ["<|20-6|><|local-3-1|>", 26]}] | LOCATE OBJECTS:
Target Object: <|gray|><|cube|> found at <|10-3|><|local-1-2|> with height 28
Target Placement Location: <|gray|><|star|> at <|20-6|><|local-3-1|> with height 26
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|20-6|><|local-3-1|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.
Step 7: Open gripper to finish the task.
| [{"gray-cube": [41, 14, 28]}, {"navy-triangular prism": [1, 98, 5]}, {"yellow-cube": [30, 84, 6]}, {"lime-moon": [76, 16, 23]}, {"rose-cylinder": [20, 31, 3]}, {"magenta-star": [31, 17, 6]}, {"gray-star": [83, 25, 26]}] | Stack the gray cube on top of the gray star | [
[
41,
14,
38,
0,
60,
90,
1
],
[
41,
14,
0,
0,
60,
90,
1
],
[
41,
14,
0,
0,
60,
90,
0
],
[
41,
14,
38,
0,
60,
90,
0
],
[
83,
25,
38,
0,
60,
90,
0
],
[
83... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|violet|><|triangular prism|>": ["<|2-0|><|local-3-0|>", 11]}] | [{"<|blue|><|triangular prism|>": ["<|11-10|><|local-2-1|>", 5]}] | LOCATE OBJECTS:
Target Object: <|violet|><|triangular prism|> found at <|2-0|><|local-3-0|> with height 11
Target Placement Location: <|blue|><|triangular prism|> at <|11-10|><|local-2-1|> with height 5
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|11-10|><|local-2-1|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.
Step 7: Open gripper to finish the task.
| [{"gray-cylinder": [26, 44, 27]}, {"white-cube": [92, 58, 25]}, {"violet-triangular prism": [11, 0, 11]}, {"cyan-cylinder": [95, 72, 13]}, {"blue-triangular prism": [46, 41, 5]}, {"purple-cube": [54, 97, 16]}] | Stack the blue triangular prism and the violet triangular prism in sequence. | [
[
11,
0,
21,
0,
60,
90,
1
],
[
11,
0,
0,
0,
60,
90,
1
],
[
11,
0,
0,
0,
60,
90,
0
],
[
11,
0,
21,
0,
60,
90,
0
],
[
46,
41,
21,
0,
60,
90,
0
],
[
46,
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|teal|><|star|>": ["<|18-13|><|local-2-1|>", 30]}] | [{"<|red|><|cube|>": ["<|7-16|><|local-3-3|>", 19]}] | LOCATE OBJECTS:
Target Object: <|teal|><|star|> found at <|18-13|><|local-2-1|> with height 30
Target Placement Location: <|red|><|cube|> at <|7-16|><|local-3-3|> with height 19
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|7-16|><|local-3-3|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.
Step 7: Open gripper to finish the task.
| [{"black-moon": [1, 65, 15]}, {"rose-cube": [19, 60, 5]}, {"red-cube": [31, 67, 19]}, {"teal-star": [74, 53, 30]}, {"cyan-cylinder": [69, 32, 21]}] | Stack the red cube and the teal star in sequence. | [
[
74,
53,
40,
0,
60,
90,
1
],
[
74,
53,
0,
0,
60,
90,
1
],
[
74,
53,
0,
0,
60,
90,
0
],
[
74,
53,
40,
0,
60,
90,
0
],
[
31,
67,
40,
0,
60,
90,
0
],
[
31... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|blue|><|moon|>": ["<|7-19|><|local-2-2|>", 21]}] | [{"<|cyan|><|star|>": ["<|18-21|><|local-0-1|>", 27]}] | LOCATE OBJECTS:
Target Object: <|blue|><|moon|> found at <|7-19|><|local-2-2|> with height 21
Target Placement Location: <|cyan|><|star|> at <|18-21|><|local-0-1|> with height 27
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|18-21|><|local-0-1|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.
Step 7: Open gripper to finish the task.
| [{"teal-cylinder": [77, 98, 27]}, {"cyan-cube": [1, 73, 8]}, {"cyan-star": [72, 85, 27]}, {"blue-moon": [30, 78, 21]}, {"navy-cube": [92, 31, 11]}, {"blue-cube": [95, 44, 21]}, {"red-triangular prism": [5, 5, 15]}] | Stack the blue moon on top of the cyan star | [
[
30,
78,
31,
0,
60,
90,
1
],
[
30,
78,
0,
0,
60,
90,
1
],
[
30,
78,
0,
0,
60,
90,
0
],
[
30,
78,
31,
0,
60,
90,
0
],
[
72,
85,
31,
0,
60,
90,
0
],
[
72... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|white|><|triangular prism|>": ["<|3-2|><|local-2-3|>", 5]}] | [{"<|maroon|><|container|>": ["<|13-14|><|local-0-0|>", 4]}] | LOCATE OBJECTS:
Target Object: <|white|><|triangular prism|> found at <|3-2|><|local-2-3|> with height 5
Target Placement Location: <|maroon|><|container|> at <|13-14|><|local-0-0|> with height 4
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|13-14|><|local-0-0|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.
Step 7: Open gripper to drop the <|white|><|triangular prism|> into <|maroon|><|container|>.
| [{"white-triangular prism": [14, 11, 5]}, {"rose-container": [44, 62, 22]}, {"violet-container": [23, 86, 21]}, {"maroon-container": [52, 56, 4]}] | Pick up the triangular prism and place it into the maroon container | [
[
14,
11,
15,
0,
60,
90,
1
],
[
14,
11,
0,
0,
60,
90,
1
],
[
14,
11,
0,
0,
60,
90,
0
],
[
14,
11,
15,
0,
60,
90,
0
],
[
52,
56,
15,
0,
60,
90,
0
],
[
52... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|maroon|><|star|>": ["<|21-4|><|local-0-3|>", 4]}] | [{"<|gray|><|container|>": ["<|1-16|><|local-3-2|>", 18]}] | LOCATE OBJECTS:
Target Object: <|maroon|><|star|> found at <|21-4|><|local-0-3|> with height 4
Target Placement Location: <|gray|><|container|> at <|1-16|><|local-3-2|> with height 18
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|1-16|><|local-3-2|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.
Step 7: Open gripper to drop the <|maroon|><|star|> into <|gray|><|container|>.
| [{"gray-moon": [33, 66, 14]}, {"white-container": [82, 70, 3]}, {"gray-container": [7, 66, 18]}, {"maroon-star": [84, 19, 4]}] | Pick up the star and place it into the gray container | [
[
84,
19,
15,
0,
60,
90,
1
],
[
84,
19,
0,
0,
60,
90,
1
],
[
84,
19,
0,
0,
60,
90,
0
],
[
84,
19,
14,
0,
60,
90,
0
],
[
7,
66,
15,
0,
60,
90,
0
],
[
7,
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|navy|><|cylinder|>": ["<|23-2|><|local-3-3|>", 19]}] | [{"<|magenta|><|container|>": ["<|16-8|><|local-3-3|>", 29]}] | LOCATE OBJECTS:
Target Object: <|navy|><|cylinder|> found at <|23-2|><|local-3-3|> with height 19
Target Placement Location: <|magenta|><|container|> at <|16-8|><|local-3-3|> with height 29
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|16-8|><|local-3-3|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.
Step 7: Open gripper to drop the <|navy|><|cylinder|> into <|magenta|><|container|>.
| [{"magenta-container": [67, 35, 29]}, {"navy-container": [23, 32, 10]}, {"navy-cylinder": [95, 11, 19]}, {"silver-container": [76, 84, 13]}] | Pick up the cylinder and place it into the magenta container | [
[
95,
11,
29,
0,
60,
90,
1
],
[
95,
11,
0,
0,
60,
90,
1
],
[
95,
11,
0,
0,
60,
90,
0
],
[
95,
11,
29,
0,
60,
90,
0
],
[
67,
35,
29,
0,
60,
90,
0
],
[
67... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|teal|><|triangular prism|>": ["<|3-4|><|local-2-2|>", 26]}] | [{"<|maroon|><|container|>": ["<|6-11|><|local-1-0|>", 14]}] | LOCATE OBJECTS:
Target Object: <|teal|><|triangular prism|> found at <|3-4|><|local-2-2|> with height 26
Target Placement Location: <|maroon|><|container|> at <|6-11|><|local-1-0|> with height 14
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|6-11|><|local-1-0|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.
Step 7: Open gripper to drop the <|teal|><|triangular prism|> into <|maroon|><|container|>.
| [{"purple-container": [30, 12, 6]}, {"teal-triangular prism": [14, 18, 26]}, {"maroon-container": [25, 44, 14]}, {"silver-container": [71, 56, 24]}] | Pick up the triangular prism and place it into the maroon container | [
[
14,
18,
36,
0,
60,
90,
1
],
[
14,
18,
0,
0,
60,
90,
1
],
[
14,
18,
0,
0,
60,
90,
0
],
[
14,
18,
36,
0,
60,
90,
0
],
[
25,
44,
36,
0,
60,
90,
0
],
[
25... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|purple|><|cube|>": ["<|2-14|><|local-2-2|>", 16]}] | [{"<|blue|><|container|>": ["<|20-0|><|local-1-0|>", 17]}] | LOCATE OBJECTS:
Target Object: <|purple|><|cube|> found at <|2-14|><|local-2-2|> with height 16
Target Placement Location: <|blue|><|container|> at <|20-0|><|local-1-0|> with height 17
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|20-0|><|local-1-0|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.
Step 7: Open gripper to drop the <|purple|><|cube|> into <|blue|><|container|>.
| [{"maroon-container": [97, 72, 25]}, {"blue-container": [81, 0, 17]}, {"teal-star": [13, 92, 4]}, {"lime-container": [40, 22, 10]}, {"violet-triangular prism": [2, 64, 12]}, {"lime-star": [42, 53, 3]}, {"purple-cube": [10, 58, 16]}] | Pick up the purple cube and place it into the blue container | [
[
10,
58,
26,
0,
60,
90,
1
],
[
10,
58,
0,
0,
60,
90,
1
],
[
10,
58,
0,
0,
60,
90,
0
],
[
10,
58,
26,
0,
60,
90,
0
],
[
81,
0,
26,
0,
60,
90,
0
],
[
81,... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|purple|><|triangular prism|>": ["<|1-20|><|local-1-3|>", 19]}] | [{"<|violet|><|cube|>": ["<|7-14|><|local-1-1|>", 8]}] | LOCATE OBJECTS:
Target Object: <|purple|><|triangular prism|> found at <|1-20|><|local-1-3|> with height 19
Target Placement Location: <|violet|><|cube|> at <|7-14|><|local-1-1|> with height 8
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|7-14|><|local-1-1|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.
Step 7: Open gripper to finish the task.
| [{"violet-cube": [29, 57, 8]}, {"purple-star": [22, 52, 2]}, {"teal-cylinder": [16, 32, 16]}, {"purple-triangular prism": [5, 83, 19]}, {"navy-moon": [19, 2, 18]}] | Stack the cube and the triangular prism in sequence. | [
[
5,
83,
29,
0,
60,
90,
1
],
[
5,
83,
0,
0,
60,
90,
1
],
[
5,
83,
0,
0,
60,
90,
0
],
[
5,
83,
29,
0,
60,
90,
0
],
[
29,
57,
29,
0,
60,
90,
0
],
[
29,
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|violet|><|star|>": ["<|3-6|><|local-0-2|>", 6]}] | [{"<|rose|><|star|>": ["<|18-23|><|local-1-3|>", 30]}] | LOCATE OBJECTS:
Target Object: <|violet|><|star|> found at <|3-6|><|local-0-2|> with height 6
Target Placement Location: <|rose|><|star|> at <|18-23|><|local-1-3|> with height 30
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|18-23|><|local-1-3|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.
Step 7: Open gripper to finish the task.
| [{"rose-star": [73, 95, 30]}, {"rose-cylinder": [77, 68, 5]}, {"cyan-moon": [4, 26, 6]}, {"violet-star": [12, 26, 6]}, {"lime-star": [0, 78, 12]}] | Stack the violet star on top of the rose star | [
[
12,
26,
16,
0,
60,
90,
1
],
[
12,
26,
0,
0,
60,
90,
1
],
[
12,
26,
0,
0,
60,
90,
0
],
[
12,
26,
16,
0,
60,
90,
0
],
[
73,
95,
16,
0,
60,
90,
0
],
[
73... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|rose|><|star|>": ["<|3-2|><|local-0-3|>", 27]}] | [{"<|cyan|><|container|>": ["<|1-1|><|local-1-1|>", 12]}] | LOCATE OBJECTS:
Target Object: <|rose|><|star|> found at <|3-2|><|local-0-3|> with height 27
Target Placement Location: <|cyan|><|container|> at <|1-1|><|local-1-1|> with height 12
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|1-1|><|local-1-1|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.
Step 7: Open gripper to drop the <|rose|><|star|> into <|cyan|><|container|>.
| [{"purple-cube": [31, 83, 23]}, {"rose-star": [12, 11, 27]}, {"navy-container": [92, 45, 9]}, {"cyan-container": [5, 5, 12]}, {"white-cylinder": [97, 61, 17]}, {"blue-container": [71, 22, 16]}] | Pick up the rose star and place it into the cyan container | [
[
12,
11,
37,
0,
60,
90,
1
],
[
12,
11,
0,
0,
60,
90,
1
],
[
12,
11,
0,
0,
60,
90,
0
],
[
12,
11,
37,
0,
60,
90,
0
],
[
5,
5,
37,
0,
60,
90,
0
],
[
5,
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|red|><|cylinder|>": ["<|10-12|><|local-1-2|>", 15]}] | [{"<|yellow|><|triangular prism|>": ["<|18-12|><|local-1-2|>", 25]}] | LOCATE OBJECTS:
Target Object: <|red|><|cylinder|> found at <|10-12|><|local-1-2|> with height 15
Target Placement Location: <|yellow|><|triangular prism|> at <|18-12|><|local-1-2|> with height 25
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|18-12|><|local-1-2|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.
Step 7: Open gripper to finish the task.
| [{"yellow-triangular prism": [73, 50, 25]}, {"yellow-cube": [68, 43, 12]}, {"red-cylinder": [41, 50, 15]}, {"yellow-star": [44, 67, 11]}, {"maroon-moon": [91, 49, 22]}] | Stack the triangular prism and the cylinder in sequence. | [
[
41,
50,
25,
0,
60,
90,
1
],
[
41,
50,
0,
0,
60,
90,
1
],
[
41,
50,
0,
0,
60,
90,
0
],
[
41,
50,
25,
0,
60,
90,
0
],
[
73,
50,
25,
0,
60,
90,
0
],
[
73... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|lime|><|cylinder|>": ["<|7-3|><|local-3-3|>", 1]}] | [{"<|olive|><|cylinder|>": ["<|1-22|><|local-2-0|>", 14]}] | LOCATE OBJECTS:
Target Object: <|lime|><|cylinder|> found at <|7-3|><|local-3-3|> with height 1
Target Placement Location: <|olive|><|cylinder|> at <|1-22|><|local-2-0|> with height 14
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|1-22|><|local-2-0|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.
Step 7: Open gripper to finish the task.
| [{"violet-triangular prism": [78, 55, 9]}, {"olive-cylinder": [6, 88, 14]}, {"lime-cylinder": [31, 15, 1]}, {"yellow-cube": [25, 56, 17]}, {"green-star": [38, 28, 28]}, {"cyan-triangular prism": [30, 88, 1]}] | Stack the olive cylinder and the lime cylinder in sequence. | [
[
31,
15,
12,
0,
60,
90,
1
],
[
31,
15,
0,
0,
60,
90,
1
],
[
31,
15,
0,
0,
60,
90,
0
],
[
31,
15,
14,
0,
60,
90,
0
],
[
6,
88,
15,
0,
60,
90,
0
],
[
6,
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|black|><|moon|>": ["<|1-18|><|local-0-1|>", 8]}] | [{"<|teal|><|triangular prism|>": ["<|18-20|><|local-2-3|>", 3]}] | LOCATE OBJECTS:
Target Object: <|black|><|moon|> found at <|1-18|><|local-0-1|> with height 8
Target Placement Location: [74, 83] with height 3. Map [74, 83] (100x100) to a 25x25 grid, then a 4x4 subgrid. Result: <|18-20|><|local-2-3|>.
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|18-20|><|local-2-3|> at the same height as stage 4.
Step 6: Move on top of target location at target_pos: <|18-20|><|local-2-3|> with height target_height.
Step 7: Open gripper to finish the task.
| [{"magenta-cylinder": [35, 88, 2]}, {"maroon-moon": [39, 9, 9]}, {"black-moon": [4, 73, 8]}, {"maroon-cube": [40, 4, 5]}, {"teal-triangular prism": [74, 83, 3]}] | Move the black moon to [74, 83, 3] | [
[
4,
73,
18,
0,
60,
90,
1
],
[
4,
73,
0,
0,
60,
90,
1
],
[
4,
73,
0,
0,
60,
90,
0
],
[
4,
73,
18,
0,
60,
90,
0
],
[
74,
83,
18,
0,
60,
90,
0
],
[
74,
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|silver|><|cube|>": ["<|22-12|><|local-3-2|>", 3]}] | [{"<|rose|><|cylinder|>": ["<|11-8|><|local-1-3|>", 10]}] | LOCATE OBJECTS:
Target Object: <|silver|><|cube|> found at <|22-12|><|local-3-2|> with height 3
Target Placement Location: <|rose|><|cylinder|> at <|11-8|><|local-1-3|> with height 10
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|11-8|><|local-1-3|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.
Step 7: Open gripper to finish the task.
| [{"violet-star": [5, 60, 13]}, {"silver-cube": [91, 50, 3]}, {"olive-triangular prism": [95, 77, 2]}, {"rose-cylinder": [45, 35, 10]}, {"rose-cube": [72, 33, 3]}] | Stack the silver cube on top of the rose cylinder | [
[
91,
50,
14,
0,
60,
90,
1
],
[
91,
50,
0,
0,
60,
90,
1
],
[
91,
50,
0,
0,
60,
90,
0
],
[
91,
50,
14,
0,
60,
90,
0
],
[
45,
35,
13,
0,
60,
90,
0
],
[
45... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|gray|><|cube|>": ["<|18-16|><|local-2-1|>", 21]}] | [{"<|blue|><|container|>": ["<|2-17|><|local-0-0|>", 18]}] | LOCATE OBJECTS:
Target Object: <|gray|><|cube|> found at <|18-16|><|local-2-1|> with height 21
Target Placement Location: <|blue|><|container|> at <|2-17|><|local-0-0|> with height 18
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|2-17|><|local-0-0|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.
Step 7: Open gripper to drop the <|gray|><|cube|> into <|blue|><|container|>.
| [{"yellow-cube": [34, 19, 25]}, {"gray-cube": [74, 65, 21]}, {"red-star": [79, 77, 6]}, {"gray-container": [79, 25, 1]}, {"blue-container": [8, 68, 18]}, {"gray-cylinder": [74, 55, 12]}] | Pick up the gray cube and place it into the blue container | [
[
74,
65,
31,
0,
60,
90,
1
],
[
74,
65,
0,
0,
60,
90,
1
],
[
74,
65,
0,
0,
60,
90,
0
],
[
74,
65,
31,
0,
60,
90,
0
],
[
8,
68,
31,
0,
60,
90,
0
],
[
8,
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|green|><|cylinder|>": ["<|18-22|><|local-0-2|>", 26]}] | [{"<|silver|><|triangular prism|>": ["<|0-2|><|local-2-3|>", 16]}] | LOCATE OBJECTS:
Target Object: <|green|><|cylinder|> found at <|18-22|><|local-0-2|> with height 26
Target Placement Location: <|silver|><|triangular prism|> at <|0-2|><|local-2-3|> with height 16
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|0-2|><|local-2-3|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.
Step 7: Open gripper to finish the task.
| [{"lime-cube": [23, 77, 7]}, {"silver-triangular prism": [2, 11, 16]}, {"maroon-cube": [74, 52, 19]}, {"green-cylinder": [72, 90, 26]}, {"olive-moon": [39, 17, 3]}, {"silver-star": [72, 42, 21]}] | Stack the silver triangular prism and the green cylinder in sequence. | [
[
72,
90,
36,
0,
60,
90,
1
],
[
72,
90,
0,
0,
60,
90,
1
],
[
72,
90,
0,
0,
60,
90,
0
],
[
72,
90,
36,
0,
60,
90,
0
],
[
2,
11,
36,
0,
60,
90,
0
],
[
2,
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|olive|><|triangular prism|>": ["<|19-7|><|local-0-0|>", 9]}] | [{"<|purple|><|container|>": ["<|0-10|><|local-2-2|>", 8]}] | LOCATE OBJECTS:
Target Object: <|olive|><|triangular prism|> found at <|19-7|><|local-0-0|> with height 9
Target Placement Location: <|purple|><|container|> at <|0-10|><|local-2-2|> with height 8
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|0-10|><|local-2-2|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.
Step 7: Open gripper to drop the <|olive|><|triangular prism|> into <|purple|><|container|>.
| [{"navy-star": [74, 5, 28]}, {"cyan-cylinder": [9, 70, 27]}, {"magenta-container": [49, 29, 1]}, {"red-moon": [27, 32, 8]}, {"purple-container": [2, 42, 8]}, {"olive-triangular prism": [76, 28, 9]}, {"violet-container": [5, 60, 10]}] | Pick up the olive triangular prism and place it into the purple container | [
[
76,
28,
19,
0,
60,
90,
1
],
[
76,
28,
0,
0,
60,
90,
1
],
[
76,
28,
0,
0,
60,
90,
0
],
[
76,
28,
19,
0,
60,
90,
0
],
[
2,
42,
19,
0,
60,
90,
0
],
[
2,
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|navy|><|moon|>": ["<|6-11|><|local-2-1|>", 24]}] | [{"<|green|><|container|>": ["<|19-5|><|local-1-1|>", 18]}] | LOCATE OBJECTS:
Target Object: <|navy|><|moon|> found at <|6-11|><|local-2-1|> with height 24
Target Placement Location: <|green|><|container|> at <|19-5|><|local-1-1|> with height 18
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|19-5|><|local-1-1|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.
Step 7: Open gripper to drop the <|navy|><|moon|> into <|green|><|container|>.
| [{"green-container": [77, 21, 18]}, {"magenta-cube": [81, 52, 30]}, {"blue-triangular prism": [83, 72, 27]}, {"cyan-triangular prism": [11, 15, 23]}, {"silver-container": [38, 20, 23]}, {"navy-moon": [26, 45, 24]}] | Pick up the navy moon and place it into the green container | [
[
26,
45,
34,
0,
60,
90,
1
],
[
26,
45,
0,
0,
60,
90,
1
],
[
26,
45,
0,
0,
60,
90,
0
],
[
26,
45,
34,
0,
60,
90,
0
],
[
77,
21,
34,
0,
60,
90,
0
],
[
77... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|green|><|cylinder|>": ["<|4-15|><|local-1-1|>", 30]}] | [{"<|olive|><|container|>": ["<|23-4|><|local-0-1|>", 12]}] | LOCATE OBJECTS:
Target Object: <|green|><|cylinder|> found at <|4-15|><|local-1-1|> with height 30
Target Placement Location: <|olive|><|container|> at <|23-4|><|local-0-1|> with height 12
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|23-4|><|local-0-1|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.
Step 7: Open gripper to drop the <|green|><|cylinder|> into <|olive|><|container|>.
| [{"green-container": [7, 48, 19]}, {"navy-cube": [63, 50, 21]}, {"green-cylinder": [17, 61, 30]}, {"purple-star": [96, 35, 12]}, {"violet-triangular prism": [10, 56, 10]}, {"green-triangular prism": [82, 17, 17]}, {"olive-container": [92, 17, 12]}] | Pick up the green cylinder and place it into the olive container | [
[
17,
61,
40,
0,
60,
90,
1
],
[
17,
61,
0,
0,
60,
90,
1
],
[
17,
61,
0,
0,
60,
90,
0
],
[
17,
61,
40,
0,
60,
90,
0
],
[
92,
17,
40,
0,
60,
90,
0
],
[
92... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|red|><|star|>": ["<|8-17|><|local-1-1|>", 7]}] | [{"<|silver|><|cylinder|>": ["<|5-19|><|local-2-3|>", 1]}] | LOCATE OBJECTS:
Target Object: <|red|><|star|> found at <|8-17|><|local-1-1|> with height 7
Target Placement Location: <|silver|><|cylinder|> at <|5-19|><|local-2-3|> with height 1
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|5-19|><|local-2-3|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.
Step 7: Open gripper to finish the task.
| [{"lime-cube": [70, 57, 18]}, {"red-star": [33, 69, 7]}, {"red-moon": [71, 0, 7]}, {"rose-triangular prism": [88, 51, 17]}, {"silver-cylinder": [22, 79, 1]}] | Stack the silver cylinder and the red star in sequence. | [
[
33,
69,
17,
0,
60,
90,
1
],
[
33,
69,
0,
0,
60,
90,
1
],
[
33,
69,
0,
0,
60,
90,
0
],
[
33,
69,
17,
0,
60,
90,
0
],
[
22,
79,
17,
0,
60,
90,
0
],
[
22... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|rose|><|star|>": ["<|16-11|><|local-1-3|>", 29]}] | [{"<|rose|><|cylinder|>": ["<|23-17|><|local-2-2|>", 16]}] | LOCATE OBJECTS:
Target Object: <|rose|><|star|> found at <|16-11|><|local-1-3|> with height 29
Target Placement Location: <|rose|><|cylinder|> at <|23-17|><|local-2-2|> with height 16
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|23-17|><|local-2-2|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.
Step 7: Open gripper to finish the task.
| [{"azure-moon": [76, 47, 9]}, {"rose-star": [65, 47, 29]}, {"purple-triangular prism": [1, 59, 13]}, {"cyan-cylinder": [12, 48, 2]}, {"rose-cylinder": [94, 70, 16]}, {"rose-triangular prism": [52, 45, 13]}, {"cyan-cube": [34, 75, 7]}] | Stack the rose cylinder and the rose star in sequence. | [
[
65,
47,
39,
0,
60,
90,
1
],
[
65,
47,
0,
0,
60,
90,
1
],
[
65,
47,
0,
0,
60,
90,
0
],
[
65,
47,
39,
0,
60,
90,
0
],
[
94,
70,
39,
0,
60,
90,
0
],
[
94... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|yellow|><|triangular prism|>": ["<|3-11|><|local-2-0|>", 10]}] | [{"<|blue|><|container|>": ["<|16-9|><|local-0-3|>", 25]}] | LOCATE OBJECTS:
Target Object: <|yellow|><|triangular prism|> found at <|3-11|><|local-2-0|> with height 10
Target Placement Location: <|blue|><|container|> at <|16-9|><|local-0-3|> with height 25
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|16-9|><|local-0-3|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.
Step 7: Open gripper to drop the <|yellow|><|triangular prism|> into <|blue|><|container|>.
| [{"blue-container": [64, 39, 25]}, {"gray-container": [68, 22, 12]}, {"yellow-triangular prism": [14, 44, 10]}, {"red-container": [91, 74, 29]}, {"rose-moon": [67, 2, 5]}, {"magenta-star": [85, 75, 16]}] | Pick up the yellow triangular prism and place it into the blue container | [
[
14,
44,
20,
0,
60,
90,
1
],
[
14,
44,
0,
0,
60,
90,
1
],
[
14,
44,
0,
0,
60,
90,
0
],
[
14,
44,
20,
0,
60,
90,
0
],
[
64,
39,
20,
0,
60,
90,
0
],
[
64... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|white|><|star|>": ["<|19-9|><|local-3-3|>", 2]}] | [{"<|rose|><|container|>": ["<|11-3|><|local-3-0|>", 16]}] | LOCATE OBJECTS:
Target Object: <|white|><|star|> found at <|19-9|><|local-3-3|> with height 2
Target Placement Location: <|rose|><|container|> at <|11-3|><|local-3-0|> with height 16
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|11-3|><|local-3-0|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.
Step 7: Open gripper to drop the <|white|><|star|> into <|rose|><|container|>.
| [{"violet-container": [16, 95, 7]}, {"red-cube": [0, 64, 20]}, {"white-star": [79, 39, 2]}, {"white-triangular prism": [86, 19, 15]}, {"rose-container": [47, 12, 16]}, {"red-moon": [14, 16, 5]}] | Pick up the star and place it into the rose container | [
[
79,
39,
13,
0,
60,
90,
1
],
[
79,
39,
0,
0,
60,
90,
1
],
[
79,
39,
0,
0,
60,
90,
0
],
[
79,
39,
13,
0,
60,
90,
0
],
[
47,
12,
15,
0,
60,
90,
0
],
[
47... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|gray|><|moon|>": ["<|23-21|><|local-0-3|>", 2]}] | [{"<|silver|><|container|>": ["<|17-12|><|local-1-3|>", 6]}] | LOCATE OBJECTS:
Target Object: <|gray|><|moon|> found at <|23-21|><|local-0-3|> with height 2
Target Placement Location: <|silver|><|container|> at <|17-12|><|local-1-3|> with height 6
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|17-12|><|local-1-3|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.
Step 7: Open gripper to drop the <|gray|><|moon|> into <|silver|><|container|>.
| [{"black-container": [12, 68, 12]}, {"silver-container": [69, 51, 6]}, {"gray-moon": [92, 87, 2]}, {"blue-cylinder": [28, 43, 18]}] | Pick up the moon and place it into the silver container | [
[
92,
87,
15,
0,
60,
90,
1
],
[
92,
87,
0,
0,
60,
90,
1
],
[
92,
87,
0,
0,
60,
90,
0
],
[
92,
87,
15,
0,
60,
90,
0
],
[
69,
51,
15,
0,
60,
90,
0
],
[
69... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|yellow|><|triangular prism|>": ["<|14-10|><|local-3-0|>", 12]}] | [{"<|yellow|><|moon|>": ["<|20-15|><|local-3-0|>", 22]}] | LOCATE OBJECTS:
Target Object: <|yellow|><|triangular prism|> found at <|14-10|><|local-3-0|> with height 12
Target Placement Location: [83, 60] with height 22. Map [83, 60] (100x100) to a 25x25 grid, then a 4x4 subgrid. Result: <|20-15|><|local-3-0|>.
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|20-15|><|local-3-0|> at the same height as stage 4.
Step 6: Move on top of target location at target_pos: <|20-15|><|local-3-0|> with height target_height.
Step 7: Open gripper to finish the task.
| [{"violet-cylinder": [58, 0, 14]}, {"yellow-moon": [83, 60, 22]}, {"purple-star": [59, 13, 5]}, {"purple-cube": [97, 66, 21]}, {"violet-triangular prism": [76, 75, 18]}, {"yellow-star": [24, 26, 1]}, {"yellow-triangular prism": [59, 40, 12]}] | Move the yellow triangular prism to [83, 60, 22] | [
[
59,
40,
22,
0,
60,
90,
1
],
[
59,
40,
0,
0,
60,
90,
1
],
[
59,
40,
0,
0,
60,
90,
0
],
[
59,
40,
22,
0,
60,
90,
0
],
[
83,
60,
22,
0,
60,
90,
0
],
[
83... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|lime|><|triangular prism|>": ["<|4-24|><|local-3-1|>", 11]}] | [{"<|yellow|><|cylinder|>": ["<|10-14|><|local-2-1|>", 3]}] | LOCATE OBJECTS:
Target Object: <|lime|><|triangular prism|> found at <|4-24|><|local-3-1|> with height 11
Target Placement Location: <|yellow|><|cylinder|> at <|10-14|><|local-2-1|> with height 3
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|10-14|><|local-2-1|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.
Step 7: Open gripper to finish the task.
| [{"azure-moon": [48, 84, 3]}, {"white-star": [57, 54, 22]}, {"silver-container": [33, 46, 8]}, {"lime-triangular prism": [19, 97, 11]}, {"yellow-cylinder": [42, 57, 3]}, {"violet-cube": [52, 98, 13]}] | Stack the triangular prism on top of the cylinder | [
[
19,
97,
21,
0,
60,
90,
1
],
[
19,
97,
0,
0,
60,
90,
1
],
[
19,
97,
0,
0,
60,
90,
0
],
[
19,
97,
21,
0,
60,
90,
0
],
[
42,
57,
21,
0,
60,
90,
0
],
[
42... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|teal|><|cylinder|>": ["<|5-2|><|local-3-0|>", 7]}] | [{"<|teal|><|cube|>": ["<|3-7|><|local-2-0|>", 1]}] | LOCATE OBJECTS:
Target Object: <|teal|><|cylinder|> found at <|5-2|><|local-3-0|> with height 7
Target Placement Location: <|teal|><|cube|> at <|3-7|><|local-2-0|> with height 1
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|3-7|><|local-2-0|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.
Step 7: Open gripper to finish the task.
| [{"teal-cube": [14, 28, 1]}, {"green-cube": [34, 5, 23]}, {"cyan-star": [68, 49, 23]}, {"cyan-moon": [12, 45, 17]}, {"teal-cylinder": [23, 8, 7]}, {"magenta-star": [56, 50, 3]}, {"white-cube": [84, 85, 17]}] | Stack the teal cylinder on top of the teal cube | [
[
23,
8,
17,
0,
60,
90,
1
],
[
23,
8,
0,
0,
60,
90,
1
],
[
23,
8,
0,
0,
60,
90,
0
],
[
23,
8,
17,
0,
60,
90,
0
],
[
14,
28,
17,
0,
60,
90,
0
],
[
14,
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|violet|><|cube|>": ["<|2-0|><|local-3-3|>", 9]}] | [{"<|violet|><|container|>": ["<|3-15|><|local-3-2|>", 10]}] | LOCATE OBJECTS:
Target Object: <|violet|><|cube|> found at <|2-0|><|local-3-3|> with height 9
Target Placement Location: <|violet|><|container|> at <|3-15|><|local-3-2|> with height 10
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|3-15|><|local-3-2|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.
Step 7: Open gripper to drop the <|violet|><|cube|> into <|violet|><|container|>.
| [{"green-triangular prism": [45, 54, 26]}, {"navy-cylinder": [61, 5, 28]}, {"maroon-cylinder": [63, 11, 29]}, {"navy-container": [69, 62, 4]}, {"violet-cube": [11, 3, 9]}, {"violet-container": [15, 62, 10]}] | Pick up the violet cube and place it into the violet container | [
[
11,
3,
19,
0,
60,
90,
1
],
[
11,
3,
0,
0,
60,
90,
1
],
[
11,
3,
0,
0,
60,
90,
0
],
[
11,
3,
19,
0,
60,
90,
0
],
[
15,
62,
19,
0,
60,
90,
0
],
[
15,
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|red|><|cylinder|>": ["<|2-18|><|local-3-0|>", 16]}] | [{"<|green|><|star|>": ["<|9-24|><|local-3-1|>", 29]}] | LOCATE OBJECTS:
Target Object: <|red|><|cylinder|> found at <|2-18|><|local-3-0|> with height 16
Target Placement Location: <|green|><|star|> at <|9-24|><|local-3-1|> with height 29
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|9-24|><|local-3-1|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.
Step 7: Open gripper to finish the task.
| [{"maroon-star": [7, 20, 23]}, {"green-star": [39, 97, 29]}, {"red-triangular prism": [79, 24, 21]}, {"black-star": [76, 39, 1]}, {"red-cylinder": [11, 72, 16]}, {"teal-cube": [96, 0, 13]}] | Stack the red cylinder on top of the green star | [
[
11,
72,
26,
0,
60,
90,
1
],
[
11,
72,
0,
0,
60,
90,
1
],
[
11,
72,
0,
0,
60,
90,
0
],
[
11,
72,
26,
0,
60,
90,
0
],
[
39,
97,
26,
0,
60,
90,
0
],
[
39... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|white|><|cube|>": ["<|12-1|><|local-0-0|>", 11]}] | [{"<|green|><|cylinder|>": ["<|16-7|><|local-2-2|>", 17]}] | LOCATE OBJECTS:
Target Object: <|white|><|cube|> found at <|12-1|><|local-0-0|> with height 11
Target Placement Location: [66, 30] with height 17. Map [66, 30] (100x100) to a 25x25 grid, then a 4x4 subgrid. Result: <|16-7|><|local-2-2|>.
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|16-7|><|local-2-2|> at the same height as stage 4.
Step 6: Move on top of target location at target_pos: <|16-7|><|local-2-2|> with height target_height.
Step 7: Open gripper to finish the task.
| [{"teal-triangular prism": [44, 85, 26]}, {"rose-cylinder": [98, 72, 30]}, {"blue-cube": [32, 57, 7]}, {"green-cylinder": [66, 30, 17]}, {"olive-cube": [75, 47, 3]}, {"white-cube": [48, 4, 11]}, {"gray-triangular prism": [60, 36, 6]}] | Move the white cube to [66, 30, 17] | [
[
48,
4,
21,
0,
60,
90,
1
],
[
48,
4,
0,
0,
60,
90,
1
],
[
48,
4,
0,
0,
60,
90,
0
],
[
48,
4,
21,
0,
60,
90,
0
],
[
66,
30,
21,
0,
60,
90,
0
],
[
66,
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|silver|><|star|>": ["<|10-23|><|local-3-2|>", 29]}] | [{"<|magenta|><|moon|>": ["<|7-11|><|local-2-0|>", 7]}] | LOCATE OBJECTS:
Target Object: <|silver|><|star|> found at <|10-23|><|local-3-2|> with height 29
Target Placement Location: <|magenta|><|moon|> at <|7-11|><|local-2-0|> with height 7
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|7-11|><|local-2-0|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.
Step 7: Open gripper to finish the task.
| [{"magenta-moon": [30, 44, 7]}, {"green-cylinder": [51, 73, 15]}, {"silver-star": [43, 94, 29]}, {"navy-triangular prism": [87, 13, 23]}, {"blue-cylinder": [65, 91, 2]}, {"lime-cylinder": [87, 70, 27]}] | Stack the silver star on top of the magenta moon | [
[
43,
94,
39,
0,
60,
90,
1
],
[
43,
94,
0,
0,
60,
90,
1
],
[
43,
94,
0,
0,
60,
90,
0
],
[
43,
94,
39,
0,
60,
90,
0
],
[
30,
44,
39,
0,
60,
90,
0
],
[
30... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|black|><|triangular prism|>": ["<|21-21|><|local-3-2|>", 17]}] | [{"<|gray|><|container|>": ["<|3-18|><|local-0-1|>", 16]}] | LOCATE OBJECTS:
Target Object: <|black|><|triangular prism|> found at <|21-21|><|local-3-2|> with height 17
Target Placement Location: <|gray|><|container|> at <|3-18|><|local-0-1|> with height 16
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|3-18|><|local-0-1|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.
Step 7: Open gripper to drop the <|black|><|triangular prism|> into <|gray|><|container|>.
| [{"navy-container": [36, 61, 4]}, {"white-container": [67, 75, 25]}, {"black-triangular prism": [87, 86, 17]}, {"gray-container": [12, 73, 16]}, {"purple-cube": [7, 58, 15]}] | Pick up the triangular prism and place it into the gray container | [
[
87,
86,
27,
0,
60,
90,
1
],
[
87,
86,
0,
0,
60,
90,
1
],
[
87,
86,
0,
0,
60,
90,
0
],
[
87,
86,
27,
0,
60,
90,
0
],
[
12,
73,
27,
0,
60,
90,
0
],
[
12... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|purple|><|star|>": ["<|11-23|><|local-1-3|>", 9]}] | [{"<|yellow|><|container|>": ["<|22-5|><|local-0-1|>", 17]}] | LOCATE OBJECTS:
Target Object: <|purple|><|star|> found at <|11-23|><|local-1-3|> with height 9
Target Placement Location: <|yellow|><|container|> at <|22-5|><|local-0-1|> with height 17
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|22-5|><|local-0-1|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.
Step 7: Open gripper to drop the <|purple|><|star|> into <|yellow|><|container|>.
| [{"gray-cylinder": [33, 13, 7]}, {"black-container": [79, 6, 13]}, {"yellow-container": [88, 21, 17]}, {"purple-star": [45, 95, 9]}, {"violet-triangular prism": [41, 13, 3]}] | Pick up the star and place it into the yellow container | [
[
45,
95,
19,
0,
60,
90,
1
],
[
45,
95,
0,
0,
60,
90,
1
],
[
45,
95,
0,
0,
60,
90,
0
],
[
45,
95,
19,
0,
60,
90,
0
],
[
88,
21,
19,
0,
60,
90,
0
],
[
88... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|magenta|><|moon|>": ["<|13-5|><|local-2-2|>", 1]}] | [{"<|teal|><|triangular prism|>": ["<|12-6|><|local-3-3|>", 19]}] | LOCATE OBJECTS:
Target Object: <|magenta|><|moon|> found at <|13-5|><|local-2-2|> with height 1
Target Placement Location: [51, 27] with height 19. Map [51, 27] (100x100) to a 25x25 grid, then a 4x4 subgrid. Result: <|12-6|><|local-3-3|>.
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|12-6|><|local-3-3|> at the same height as stage 4.
Step 6: Move on top of target location at target_pos: <|12-6|><|local-3-3|> with height target_height.
Step 7: Open gripper to finish the task.
| [{"magenta-moon": [54, 22, 1]}, {"teal-triangular prism": [51, 27, 19]}, {"azure-star": [78, 16, 3]}, {"white-cube": [30, 36, 9]}, {"magenta-star": [32, 90, 25]}, {"yellow-moon": [4, 45, 19]}, {"blue-cube": [43, 4, 9]}] | Move the magenta moon to [51, 27, 19] | [
[
54,
22,
13,
0,
60,
90,
1
],
[
54,
22,
0,
0,
60,
90,
1
],
[
54,
22,
0,
0,
60,
90,
0
],
[
54,
22,
11,
0,
60,
90,
0
],
[
51,
27,
15,
0,
60,
90,
0
],
[
51... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|violet|><|cube|>": ["<|23-23|><|local-1-3|>", 7]}] | [{"<|white|><|cube|>": ["<|17-1|><|local-3-0|>", 24]}] | LOCATE OBJECTS:
Target Object: <|violet|><|cube|> found at <|23-23|><|local-1-3|> with height 7
Target Placement Location: [71, 4] with height 24. Map [71, 4] (100x100) to a 25x25 grid, then a 4x4 subgrid. Result: <|17-1|><|local-3-0|>.
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|17-1|><|local-3-0|> at the same height as stage 4.
Step 6: Move on top of target location at target_pos: <|17-1|><|local-3-0|> with height target_height.
Step 7: Open gripper to finish the task.
| [{"black-star": [1, 71, 4]}, {"olive-cylinder": [17, 56, 23]}, {"white-triangular prism": [52, 43, 9]}, {"white-cube": [71, 4, 24]}, {"violet-cube": [93, 95, 7]}, {"gray-moon": [92, 88, 7]}, {"black-moon": [15, 5, 15]}] | Move the violet cube to [71, 4, 24] | [
[
93,
95,
17,
0,
60,
90,
1
],
[
93,
95,
0,
0,
60,
90,
1
],
[
93,
95,
0,
0,
60,
90,
0
],
[
93,
95,
17,
0,
60,
90,
0
],
[
71,
4,
17,
0,
60,
90,
0
],
[
71,... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|violet|><|moon|>": ["<|13-8|><|local-0-0|>", 11]}] | [{"<|silver|><|cylinder|>": ["<|24-0|><|local-0-1|>", 30]}] | LOCATE OBJECTS:
Target Object: <|violet|><|moon|> found at <|13-8|><|local-0-0|> with height 11
Target Placement Location: <|silver|><|cylinder|> at <|24-0|><|local-0-1|> with height 30
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|24-0|><|local-0-1|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.
Step 7: Open gripper to finish the task.
| [{"silver-cylinder": [96, 1, 30]}, {"cyan-cylinder": [68, 20, 24]}, {"violet-moon": [52, 32, 11]}, {"lime-triangular prism": [68, 6, 20]}, {"silver-star": [4, 40, 11]}] | Stack the silver cylinder and the violet moon in sequence. | [
[
52,
32,
21,
0,
60,
90,
1
],
[
52,
32,
0,
0,
60,
90,
1
],
[
52,
32,
0,
0,
60,
90,
0
],
[
52,
32,
21,
0,
60,
90,
0
],
[
96,
1,
21,
0,
60,
90,
0
],
[
96,... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|lime|><|cube|>": ["<|1-21|><|local-0-2|>", 20]}] | [{"<|blue|><|container|>": ["<|21-2|><|local-0-3|>", 8]}] | LOCATE OBJECTS:
Target Object: <|lime|><|cube|> found at <|1-21|><|local-0-2|> with height 20
Target Placement Location: <|blue|><|container|> at <|21-2|><|local-0-3|> with height 8
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|21-2|><|local-0-3|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.
Step 7: Open gripper to drop the <|lime|><|cube|> into <|blue|><|container|>.
| [{"gray-container": [10, 98, 19]}, {"blue-container": [84, 11, 8]}, {"green-container": [17, 72, 30]}, {"red-cylinder": [30, 18, 7]}, {"lime-cube": [4, 86, 20]}] | Pick up the lime cube and place it into the blue container | [
[
4,
86,
30,
0,
60,
90,
1
],
[
4,
86,
0,
0,
60,
90,
1
],
[
4,
86,
0,
0,
60,
90,
0
],
[
4,
86,
30,
0,
60,
90,
0
],
[
84,
11,
30,
0,
60,
90,
0
],
[
84,
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|yellow|><|star|>": ["<|10-17|><|local-1-3|>", 15]}] | [{"<|navy|><|star|>": ["<|17-22|><|local-0-0|>", 15]}] | LOCATE OBJECTS:
Target Object: <|yellow|><|star|> found at <|10-17|><|local-1-3|> with height 15
Target Placement Location: [68, 88] with height 15. Map [68, 88] (100x100) to a 25x25 grid, then a 4x4 subgrid. Result: <|17-22|><|local-0-0|>.
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|17-22|><|local-0-0|> at the same height as stage 4.
Step 6: Move on top of target location at target_pos: <|17-22|><|local-0-0|> with height target_height.
Step 7: Open gripper to finish the task.
| [{"azure-moon": [8, 37, 24]}, {"navy-star": [68, 88, 15]}, {"magenta-cylinder": [56, 65, 21]}, {"yellow-star": [41, 71, 15]}, {"teal-cube": [30, 26, 29]}, {"red-cylinder": [11, 47, 27]}] | Move the yellow star to [68, 88, 15] | [
[
41,
71,
25,
0,
60,
90,
1
],
[
41,
71,
0,
0,
60,
90,
1
],
[
41,
71,
0,
0,
60,
90,
0
],
[
41,
71,
25,
0,
60,
90,
0
],
[
68,
88,
25,
0,
60,
90,
0
],
[
68... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|white|><|star|>": ["<|2-14|><|local-0-0|>", 20]}] | [{"<|lime|><|cube|>": ["<|17-5|><|local-2-3|>", 10]}] | LOCATE OBJECTS:
Target Object: <|white|><|star|> found at <|2-14|><|local-0-0|> with height 20
Target Placement Location: <|lime|><|cube|> at <|17-5|><|local-2-3|> with height 10
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|17-5|><|local-2-3|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.
Step 7: Open gripper to finish the task.
| [{"black-cube": [34, 86, 24]}, {"violet-star": [44, 33, 14]}, {"lime-cube": [70, 23, 10]}, {"black-star": [17, 29, 11]}, {"white-star": [8, 56, 20]}, {"gray-cylinder": [36, 82, 29]}, {"gray-cube": [97, 53, 25]}] | Stack the white star on top of the lime cube | [
[
8,
56,
30,
0,
60,
90,
1
],
[
8,
56,
0,
0,
60,
90,
1
],
[
8,
56,
0,
0,
60,
90,
0
],
[
8,
56,
30,
0,
60,
90,
0
],
[
70,
23,
30,
0,
60,
90,
0
],
[
70,
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|teal|><|star|>": ["<|13-14|><|local-1-2|>", 29]}] | [{"<|gray|><|cube|>": ["<|9-0|><|local-0-2|>", 5]}] | LOCATE OBJECTS:
Target Object: <|teal|><|star|> found at <|13-14|><|local-1-2|> with height 29
Target Placement Location: [36, 2] with height 5. Map [36, 2] (100x100) to a 25x25 grid, then a 4x4 subgrid. Result: <|9-0|><|local-0-2|>.
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|9-0|><|local-0-2|> at the same height as stage 4.
Step 6: Move on top of target location at target_pos: <|9-0|><|local-0-2|> with height target_height.
Step 7: Open gripper to finish the task.
| [{"lime-cylinder": [3, 10, 23]}, {"gray-cube": [36, 2, 5]}, {"azure-cube": [7, 68, 8]}, {"magenta-triangular prism": [52, 54, 28]}, {"teal-star": [53, 58, 29]}] | Move the teal star to [36, 2, 5] | [
[
53,
58,
39,
0,
60,
90,
1
],
[
53,
58,
0,
0,
60,
90,
1
],
[
53,
58,
0,
0,
60,
90,
0
],
[
53,
58,
39,
0,
60,
90,
0
],
[
36,
2,
39,
0,
60,
90,
0
],
[
36,... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|cyan|><|triangular prism|>": ["<|21-16|><|local-3-3|>", 5]}] | [{"<|rose|><|moon|>": ["<|12-10|><|local-2-1|>", 6]}] | LOCATE OBJECTS:
Target Object: <|cyan|><|triangular prism|> found at <|21-16|><|local-3-3|> with height 5
Target Placement Location: <|rose|><|moon|> at <|12-10|><|local-2-1|> with height 6
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|12-10|><|local-2-1|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.
Step 7: Open gripper to finish the task.
| [{"purple-star": [86, 48, 18]}, {"gray-cube": [62, 22, 21]}, {"cyan-triangular prism": [87, 67, 5]}, {"blue-cylinder": [84, 16, 17]}, {"yellow-container": [50, 31, 8]}, {"rose-moon": [50, 41, 6]}] | Stack the moon and the triangular prism in sequence. | [
[
87,
67,
15,
0,
60,
90,
1
],
[
87,
67,
0,
0,
60,
90,
1
],
[
87,
67,
0,
0,
60,
90,
0
],
[
87,
67,
15,
0,
60,
90,
0
],
[
50,
41,
15,
0,
60,
90,
0
],
[
50... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|yellow|><|star|>": ["<|2-3|><|local-0-3|>", 5]}] | [{"<|purple|><|star|>": ["<|15-24|><|local-1-1|>", 30]}] | LOCATE OBJECTS:
Target Object: <|yellow|><|star|> found at <|2-3|><|local-0-3|> with height 5
Target Placement Location: <|purple|><|star|> at <|15-24|><|local-1-1|> with height 30
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|15-24|><|local-1-1|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.
Step 7: Open gripper to finish the task.
| [{"blue-cylinder": [85, 71, 27]}, {"yellow-star": [8, 15, 5]}, {"gray-moon": [25, 17, 29]}, {"violet-moon": [88, 30, 11]}, {"white-star": [14, 51, 29]}, {"purple-star": [61, 97, 30]}, {"lime-cube": [75, 12, 3]}] | Stack the yellow star on top of the purple star | [
[
8,
15,
15,
0,
60,
90,
1
],
[
8,
15,
0,
0,
60,
90,
1
],
[
8,
15,
0,
0,
60,
90,
0
],
[
8,
15,
15,
0,
60,
90,
0
],
[
61,
97,
15,
0,
60,
90,
0
],
[
61,
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|azure|><|star|>": ["<|3-18|><|local-1-3|>", 18]}] | [{"<|white|><|moon|>": ["<|8-24|><|local-1-1|>", 25]}] | LOCATE OBJECTS:
Target Object: <|azure|><|star|> found at <|3-18|><|local-1-3|> with height 18
Target Placement Location: <|white|><|moon|> at <|8-24|><|local-1-1|> with height 25
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|8-24|><|local-1-1|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.
Step 7: Open gripper to finish the task.
| [{"silver-triangular prism": [7, 51, 3]}, {"azure-star": [13, 75, 18]}, {"silver-star": [45, 8, 25]}, {"silver-cube": [50, 95, 24]}, {"white-moon": [33, 97, 25]}] | Stack the white moon and the azure star in sequence. | [
[
13,
75,
28,
0,
60,
90,
1
],
[
13,
75,
0,
0,
60,
90,
1
],
[
13,
75,
0,
0,
60,
90,
0
],
[
13,
75,
28,
0,
60,
90,
0
],
[
33,
97,
28,
0,
60,
90,
0
],
[
33... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|green|><|moon|>": ["<|0-0|><|local-2-3|>", 30]}] | [{"<|white|><|container|>": ["<|8-22|><|local-0-1|>", 18]}] | LOCATE OBJECTS:
Target Object: <|green|><|moon|> found at <|0-0|><|local-2-3|> with height 30
Target Placement Location: <|white|><|container|> at <|8-22|><|local-0-1|> with height 18
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|8-22|><|local-0-1|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.
Step 7: Open gripper to drop the <|green|><|moon|> into <|white|><|container|>.
| [{"white-container": [32, 89, 18]}, {"rose-container": [74, 59, 12]}, {"navy-cube": [75, 90, 20]}, {"green-moon": [2, 3, 30]}, {"purple-triangular prism": [96, 47, 16]}, {"magenta-container": [84, 89, 29]}] | Pick up the green moon and place it into the white container | [
[
2,
3,
40,
0,
60,
90,
1
],
[
2,
3,
0,
0,
60,
90,
1
],
[
2,
3,
0,
0,
60,
90,
0
],
[
2,
3,
40,
0,
60,
90,
0
],
[
32,
89,
40,
0,
60,
90,
0
],
[
32,
89... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|white|><|moon|>": ["<|9-24|><|local-0-1|>", 17]}] | [{"<|gray|><|container|>": ["<|19-5|><|local-0-1|>", 16]}] | LOCATE OBJECTS:
Target Object: <|white|><|moon|> found at <|9-24|><|local-0-1|> with height 17
Target Placement Location: <|gray|><|container|> at <|19-5|><|local-0-1|> with height 16
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|19-5|><|local-0-1|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.
Step 7: Open gripper to drop the <|white|><|moon|> into <|gray|><|container|>.
| [{"violet-cylinder": [69, 98, 14]}, {"yellow-star": [28, 90, 28]}, {"white-moon": [36, 97, 17]}, {"black-container": [50, 60, 26]}, {"gray-container": [76, 21, 16]}] | Pick up the white moon and place it into the gray container | [
[
36,
97,
27,
0,
60,
90,
1
],
[
36,
97,
0,
0,
60,
90,
1
],
[
36,
97,
0,
0,
60,
90,
0
],
[
36,
97,
27,
0,
60,
90,
0
],
[
76,
21,
27,
0,
60,
90,
0
],
[
76... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|olive|><|triangular prism|>": ["<|8-1|><|local-1-1|>", 18]}] | [{"<|cyan|><|container|>": ["<|15-18|><|local-0-2|>", 19]}] | LOCATE OBJECTS:
Target Object: <|olive|><|triangular prism|> found at <|8-1|><|local-1-1|> with height 18
Target Placement Location: <|cyan|><|container|> at <|15-18|><|local-0-2|> with height 19
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|15-18|><|local-0-2|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.
Step 7: Open gripper to drop the <|olive|><|triangular prism|> into <|cyan|><|container|>.
| [{"cyan-container": [60, 74, 19]}, {"cyan-moon": [48, 68, 23]}, {"olive-triangular prism": [33, 5, 18]}, {"violet-container": [92, 82, 22]}, {"rose-cube": [89, 16, 13]}, {"lime-cylinder": [38, 27, 6]}] | Pick up the triangular prism and place it into the cyan container | [
[
33,
5,
28,
0,
60,
90,
1
],
[
33,
5,
0,
0,
60,
90,
1
],
[
33,
5,
0,
0,
60,
90,
0
],
[
33,
5,
28,
0,
60,
90,
0
],
[
60,
74,
28,
0,
60,
90,
0
],
[
60,
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|gray|><|cylinder|>": ["<|6-17|><|local-1-2|>", 7]}] | [{"<|red|><|star|>": ["<|18-18|><|local-3-0|>", 6]}] | LOCATE OBJECTS:
Target Object: <|gray|><|cylinder|> found at <|6-17|><|local-1-2|> with height 7
Target Placement Location: <|red|><|star|> at <|18-18|><|local-3-0|> with height 6
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|18-18|><|local-3-0|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.
Step 7: Open gripper to finish the task.
| [{"silver-cube": [69, 77, 23]}, {"azure-star": [72, 27, 25]}, {"red-star": [75, 72, 6]}, {"magenta-moon": [29, 38, 2]}, {"maroon-cylinder": [55, 52, 6]}, {"gray-cylinder": [25, 70, 7]}, {"lime-triangular prism": [48, 24, 9]}] | Stack the gray cylinder on top of the red star | [
[
25,
70,
17,
0,
60,
90,
1
],
[
25,
70,
0,
0,
60,
90,
1
],
[
25,
70,
0,
0,
60,
90,
0
],
[
25,
70,
17,
0,
60,
90,
0
],
[
75,
72,
17,
0,
60,
90,
0
],
[
75... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|olive|><|star|>": ["<|24-6|><|local-0-3|>", 11]}] | [{"<|violet|><|cube|>": ["<|12-13|><|local-1-2|>", 21]}] | LOCATE OBJECTS:
Target Object: <|olive|><|star|> found at <|24-6|><|local-0-3|> with height 11
Target Placement Location: <|violet|><|cube|> at <|12-13|><|local-1-2|> with height 21
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|12-13|><|local-1-2|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.
Step 7: Open gripper to finish the task.
| [{"olive-star": [96, 27, 11]}, {"violet-cube": [49, 54, 21]}, {"violet-triangular prism": [53, 8, 29]}, {"silver-cylinder": [66, 45, 7]}, {"lime-moon": [95, 49, 8]}] | Stack the star on top of the cube | [
[
96,
27,
21,
0,
60,
90,
1
],
[
96,
27,
0,
0,
60,
90,
1
],
[
96,
27,
0,
0,
60,
90,
0
],
[
96,
27,
21,
0,
60,
90,
0
],
[
49,
54,
21,
0,
60,
90,
0
],
[
49... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|cyan|><|triangular prism|>": ["<|0-9|><|local-3-1|>", 19]}] | [{"<|teal|><|cylinder|>": ["<|15-7|><|local-2-2|>", 16]}] | LOCATE OBJECTS:
Target Object: <|cyan|><|triangular prism|> found at <|0-9|><|local-3-1|> with height 19
Target Placement Location: <|teal|><|cylinder|> at <|15-7|><|local-2-2|> with height 16
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|15-7|><|local-2-2|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.
Step 7: Open gripper to finish the task.
| [{"yellow-cube": [74, 21, 11]}, {"silver-cylinder": [10, 88, 23]}, {"cyan-triangular prism": [3, 37, 19]}, {"blue-cylinder": [50, 89, 9]}, {"teal-cylinder": [62, 30, 16]}, {"lime-moon": [89, 41, 24]}] | Stack the cyan triangular prism on top of the teal cylinder | [
[
3,
37,
29,
0,
60,
90,
1
],
[
3,
37,
0,
0,
60,
90,
1
],
[
3,
37,
0,
0,
60,
90,
0
],
[
3,
37,
29,
0,
60,
90,
0
],
[
62,
30,
29,
0,
60,
90,
0
],
[
62,
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|navy|><|cylinder|>": ["<|15-10|><|local-3-3|>", 12]}] | [{"<|purple|><|cylinder|>": ["<|24-21|><|local-2-3|>", 17]}] | LOCATE OBJECTS:
Target Object: <|navy|><|cylinder|> found at <|15-10|><|local-3-3|> with height 12
Target Placement Location: [98, 87] with height 17. Map [98, 87] (100x100) to a 25x25 grid, then a 4x4 subgrid. Result: <|24-21|><|local-2-3|>.
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|24-21|><|local-2-3|> at the same height as stage 4.
Step 6: Move on top of target location at target_pos: <|24-21|><|local-2-3|> with height target_height.
Step 7: Open gripper to finish the task.
| [{"maroon-cylinder": [78, 80, 24]}, {"navy-cylinder": [63, 43, 12]}, {"purple-cylinder": [98, 87, 17]}, {"gray-triangular prism": [69, 31, 20]}, {"purple-triangular prism": [58, 50, 10]}] | Move the navy cylinder to [98, 87, 17] | [
[
63,
43,
22,
0,
60,
90,
1
],
[
63,
43,
0,
0,
60,
90,
1
],
[
63,
43,
0,
0,
60,
90,
0
],
[
63,
43,
22,
0,
60,
90,
0
],
[
98,
87,
22,
0,
60,
90,
0
],
[
98... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|teal|><|star|>": ["<|17-20|><|local-1-3|>", 13]}] | [{"<|violet|><|container|>": ["<|8-22|><|local-1-0|>", 17]}] | LOCATE OBJECTS:
Target Object: <|teal|><|star|> found at <|17-20|><|local-1-3|> with height 13
Target Placement Location: <|violet|><|container|> at <|8-22|><|local-1-0|> with height 17
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|8-22|><|local-1-0|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.
Step 7: Open gripper to drop the <|teal|><|star|> into <|violet|><|container|>.
| [{"lime-cube": [35, 16, 6]}, {"cyan-cylinder": [11, 94, 20]}, {"violet-container": [33, 88, 17]}, {"teal-star": [69, 83, 13]}, {"silver-container": [89, 41, 24]}] | Pick up the star and place it into the violet container | [
[
69,
83,
23,
0,
60,
90,
1
],
[
69,
83,
0,
0,
60,
90,
1
],
[
69,
83,
0,
0,
60,
90,
0
],
[
69,
83,
23,
0,
60,
90,
0
],
[
33,
88,
23,
0,
60,
90,
0
],
[
33... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|silver|><|triangular prism|>": ["<|13-22|><|local-0-1|>", 26]}] | [{"<|azure|><|container|>": ["<|18-5|><|local-2-2|>", 13]}] | LOCATE OBJECTS:
Target Object: <|silver|><|triangular prism|> found at <|13-22|><|local-0-1|> with height 26
Target Placement Location: <|azure|><|container|> at <|18-5|><|local-2-2|> with height 13
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|18-5|><|local-2-2|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.
Step 7: Open gripper to drop the <|silver|><|triangular prism|> into <|azure|><|container|>.
| [{"maroon-cube": [91, 97, 28]}, {"green-moon": [60, 66, 26]}, {"silver-triangular prism": [52, 89, 26]}, {"magenta-moon": [66, 88, 22]}, {"violet-container": [82, 80, 12]}, {"navy-moon": [54, 31, 17]}, {"azure-container": [74, 22, 13]}] | Pick up the silver triangular prism and place it into the azure container | [
[
52,
89,
36,
0,
60,
90,
1
],
[
52,
89,
0,
0,
60,
90,
1
],
[
52,
89,
0,
0,
60,
90,
0
],
[
52,
89,
36,
0,
60,
90,
0
],
[
74,
22,
36,
0,
60,
90,
0
],
[
74... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|lime|><|cylinder|>": ["<|17-11|><|local-0-1|>", 17]}] | [{"<|yellow|><|star|>": ["<|17-8|><|local-3-0|>", 23]}] | LOCATE OBJECTS:
Target Object: <|lime|><|cylinder|> found at <|17-11|><|local-0-1|> with height 17
Target Placement Location: <|yellow|><|star|> at <|17-8|><|local-3-0|> with height 23
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|17-8|><|local-3-0|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.
Step 7: Open gripper to finish the task.
| [{"yellow-star": [71, 32, 23]}, {"lime-cylinder": [68, 45, 17]}, {"teal-cube": [62, 96, 7]}, {"azure-moon": [37, 98, 16]}, {"lime-triangular prism": [78, 5, 12]}, {"rose-triangular prism": [38, 57, 18]}, {"cyan-moon": [11, 61, 6]}] | Stack the yellow star and the lime cylinder in sequence. | [
[
68,
45,
27,
0,
60,
90,
1
],
[
68,
45,
0,
0,
60,
90,
1
],
[
68,
45,
0,
0,
60,
90,
0
],
[
68,
45,
27,
0,
60,
90,
0
],
[
71,
32,
27,
0,
60,
90,
0
],
[
71... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|silver|><|cylinder|>": ["<|8-24|><|local-3-0|>", 15]}] | [{"<|blue|><|container|>": ["<|19-19|><|local-2-1|>", 3]}] | LOCATE OBJECTS:
Target Object: <|silver|><|cylinder|> found at <|8-24|><|local-3-0|> with height 15
Target Placement Location: <|blue|><|container|> at <|19-19|><|local-2-1|> with height 3
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|19-19|><|local-2-1|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.
Step 7: Open gripper to drop the <|silver|><|cylinder|> into <|blue|><|container|>.
| [{"white-container": [65, 34, 19]}, {"maroon-cube": [37, 29, 3]}, {"white-star": [93, 96, 2]}, {"black-triangular prism": [2, 88, 3]}, {"red-cube": [29, 11, 1]}, {"blue-container": [78, 77, 3]}, {"silver-cylinder": [35, 96, 15]}] | Pick up the silver cylinder and place it into the blue container | [
[
35,
96,
25,
0,
60,
90,
1
],
[
35,
96,
0,
0,
60,
90,
1
],
[
35,
96,
0,
0,
60,
90,
0
],
[
35,
96,
25,
0,
60,
90,
0
],
[
78,
77,
25,
0,
60,
90,
0
],
[
78... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|olive|><|cylinder|>": ["<|3-3|><|local-2-3|>", 30]}] | [{"<|azure|><|container|>": ["<|10-5|><|local-2-1|>", 19]}] | LOCATE OBJECTS:
Target Object: <|olive|><|cylinder|> found at <|3-3|><|local-2-3|> with height 30
Target Placement Location: <|azure|><|container|> at <|10-5|><|local-2-1|> with height 19
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|10-5|><|local-2-1|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.
Step 7: Open gripper to drop the <|olive|><|cylinder|> into <|azure|><|container|>.
| [{"olive-cylinder": [14, 15, 30]}, {"azure-container": [42, 21, 19]}, {"olive-moon": [37, 54, 28]}, {"cyan-container": [80, 27, 14]}, {"magenta-star": [33, 83, 15]}, {"red-cylinder": [2, 19, 20]}] | Pick up the olive cylinder and place it into the azure container | [
[
14,
15,
40,
0,
60,
90,
1
],
[
14,
15,
0,
0,
60,
90,
1
],
[
14,
15,
0,
0,
60,
90,
0
],
[
14,
15,
40,
0,
60,
90,
0
],
[
42,
21,
40,
0,
60,
90,
0
],
[
42... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|blue|><|triangular prism|>": ["<|1-18|><|local-3-3|>", 7]}] | [{"<|lime|><|moon|>": ["<|11-9|><|local-3-3|>", 28]}] | LOCATE OBJECTS:
Target Object: <|blue|><|triangular prism|> found at <|1-18|><|local-3-3|> with height 7
Target Placement Location: <|lime|><|moon|> at <|11-9|><|local-3-3|> with height 28
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|11-9|><|local-3-3|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.
Step 7: Open gripper to finish the task.
| [{"purple-star": [8, 10, 29]}, {"red-star": [12, 82, 28]}, {"cyan-triangular prism": [42, 95, 8]}, {"lime-moon": [47, 39, 28]}, {"blue-triangular prism": [7, 75, 7]}, {"maroon-triangular prism": [29, 59, 23]}, {"black-cube": [9, 68, 2]}] | Stack the lime moon and the blue triangular prism in sequence. | [
[
7,
75,
17,
0,
60,
90,
1
],
[
7,
75,
0,
0,
60,
90,
1
],
[
7,
75,
0,
0,
60,
90,
0
],
[
7,
75,
17,
0,
60,
90,
0
],
[
47,
39,
17,
0,
60,
90,
0
],
[
47,
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|green|><|triangular prism|>": ["<|2-6|><|local-2-3|>", 9]}] | [{"<|black|><|triangular prism|>": ["<|1-0|><|local-3-1|>", 3]}] | LOCATE OBJECTS:
Target Object: <|green|><|triangular prism|> found at <|2-6|><|local-2-3|> with height 9
Target Placement Location: <|black|><|triangular prism|> at <|1-0|><|local-3-1|> with height 3
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|1-0|><|local-3-1|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.
Step 7: Open gripper to finish the task.
| [{"olive-star": [88, 14, 26]}, {"azure-cylinder": [26, 33, 11]}, {"maroon-star": [25, 97, 11]}, {"green-triangular prism": [10, 27, 9]}, {"lime-cylinder": [90, 47, 8]}, {"black-triangular prism": [7, 1, 3]}, {"cyan-star": [69, 14, 19]}] | Stack the green triangular prism on top of the black triangular prism | [
[
10,
27,
19,
0,
60,
90,
1
],
[
10,
27,
0,
0,
60,
90,
1
],
[
10,
27,
0,
0,
60,
90,
0
],
[
10,
27,
19,
0,
60,
90,
0
],
[
7,
1,
19,
0,
60,
90,
0
],
[
7,
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|black|><|cylinder|>": ["<|2-16|><|local-1-1|>", 7]}] | [{"<|black|><|container|>": ["<|9-22|><|local-2-3|>", 8]}] | LOCATE OBJECTS:
Target Object: <|black|><|cylinder|> found at <|2-16|><|local-1-1|> with height 7
Target Placement Location: <|black|><|container|> at <|9-22|><|local-2-3|> with height 8
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|9-22|><|local-2-3|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.
Step 7: Open gripper to drop the <|black|><|cylinder|> into <|black|><|container|>.
| [{"white-cube": [28, 1, 29]}, {"black-container": [38, 91, 8]}, {"black-cylinder": [9, 65, 7]}, {"gray-container": [2, 45, 4]}, {"violet-cube": [68, 11, 23]}, {"cyan-star": [64, 29, 15]}, {"blue-cube": [56, 93, 30]}] | Pick up the black cylinder and place it into the black container | [
[
9,
65,
17,
0,
60,
90,
1
],
[
9,
65,
0,
0,
60,
90,
1
],
[
9,
65,
0,
0,
60,
90,
0
],
[
9,
65,
17,
0,
60,
90,
0
],
[
38,
91,
17,
0,
60,
90,
0
],
[
38,
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|maroon|><|moon|>": ["<|2-21|><|local-0-1|>", 3]}] | [{"<|lime|><|triangular prism|>": ["<|9-20|><|local-3-3|>", 5]}] | LOCATE OBJECTS:
Target Object: <|maroon|><|moon|> found at <|2-21|><|local-0-1|> with height 3
Target Placement Location: <|lime|><|triangular prism|> at <|9-20|><|local-3-3|> with height 5
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|9-20|><|local-3-3|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.
Step 7: Open gripper to finish the task.
| [{"cyan-moon": [10, 2, 28]}, {"purple-cylinder": [13, 81, 15]}, {"azure-cylinder": [37, 62, 25]}, {"lime-star": [80, 29, 19]}, {"maroon-moon": [8, 85, 3]}, {"purple-triangular prism": [55, 88, 9]}, {"lime-triangular prism": [39, 83, 5]}] | Stack the lime triangular prism and the maroon moon in sequence. | [
[
8,
85,
13,
0,
60,
90,
1
],
[
8,
85,
0,
0,
60,
90,
1
],
[
8,
85,
0,
0,
60,
90,
0
],
[
8,
85,
15,
0,
60,
90,
0
],
[
39,
83,
14,
0,
60,
90,
0
],
[
39,
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
[{"<|red|><|triangular prism|>": ["<|11-15|><|local-2-0|>", 4]}] | [{"<|white|><|container|>": ["<|15-19|><|local-2-1|>", 29]}] | LOCATE OBJECTS:
Target Object: <|red|><|triangular prism|> found at <|11-15|><|local-2-0|> with height 4
Target Placement Location: <|white|><|container|> at <|15-19|><|local-2-1|> with height 29
PLAN ACTIONS:
Step 1: Move above source_object at source_pos with > source height.
Step 2: Position the gripper at the base of the source_object on the table surface.
Step 3: Close gripper at the same position to pick up source_object.
Step 4: Lift source_object at source_pos to height > target height.
Step 5: Move to target_object location at target_pos: <|15-19|><|local-2-1|> at the same height as stage 4.
Step 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.
Step 7: Open gripper to drop the <|red|><|triangular prism|> into <|white|><|container|>.
| [{"silver-container": [16, 37, 6]}, {"red-triangular prism": [46, 60, 4]}, {"cyan-container": [8, 15, 22]}, {"rose-triangular prism": [56, 91, 9]}, {"white-container": [62, 77, 29]}] | Pick up the red triangular prism and place it into the white container | [
[
46,
60,
15,
0,
60,
90,
1
],
[
46,
60,
0,
0,
60,
90,
1
],
[
46,
60,
0,
0,
60,
90,
0
],
[
46,
60,
15,
0,
60,
90,
0
],
[
62,
77,
15,
0,
60,
90,
0
],
[
62... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x... |
Subsets and Splits
No community queries yet
The top public SQL queries from the community will appear here once available.