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
sequencelengths 7
7
| Conversation
listlengths 2
2
|
|---|---|---|---|---|---|---|
[{"<|azure|><|cylinder|>": ["<|19-15|><|local-1-1|>", 1]}] | [{"<|lime|><|container|>": ["<|14-2|><|local-2-2|>", 4]}] | LOCATE OBJECTS:
Target Object: <|azure|><|cylinder|> found at <|19-15|><|local-1-1|> with height 1
Target Placement Location: <|lime|><|container|> at <|14-2|><|local-2-2|> 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: <|14-2|><|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 <|azure|><|cylinder|> into <|lime|><|container|>.
| [{"azure-cylinder": [77, 61, 1]}, {"cyan-container": [11, 52, 24]}, {"lime-container": [58, 10, 4]}, {"green-container": [58, 75, 26]}] | Pick up the cylinder and place it into the lime container | [
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90,
1
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] | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|azure|><|cylinder|>\": 1, \"<|cyan|><|container|>\": 24, \"<|lime|><|container|>\": 4, \"<|green|><|container|>\": 26}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the cylinder and place it into the lime container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|local-3-0|><|cyan|><|container|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|local-2-2|><|lime|><|container|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|local-2-3|><|green|><|container|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|local-1-1|><|azure|><|cylinder|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|azure|><|cylinder|> found at <|19-15|><|local-1-1|> with height 1\nTarget Placement Location: <|lime|><|container|> at <|14-2|><|local-2-2|> with height 4\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|14-2|><|local-2-2|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|azure|><|cylinder|> into <|lime|><|container|>.\n\n</think>\n\nStep 1: [\"<|19-15|>\", \"<|local-1-1|>\", 13, 0, 60, 90, 1]\nStep 2: [\"<|19-15|>\", \"<|local-1-1|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|19-15|>\", \"<|local-1-1|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|19-15|>\", \"<|local-1-1|>\", 13, 0, 60, 90, 0]\nStep 5: [\"<|14-2|>\", \"<|local-2-2|>\", 11, 0, 60, 90, 0]\nStep 6: [\"<|14-2|>\", \"<|local-2-2|>\", 4, 0, 60, 90, 0]\nStep 7: [\"<|14-2|>\", \"<|local-2-2|>\", 4, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|white|><|moon|>": ["<|20-14|><|local-1-0|>", 14]}] | [{"<|olive|><|container|>": ["<|5-20|><|local-3-3|>", 18]}] | LOCATE OBJECTS:
Target Object: <|white|><|moon|> found at <|20-14|><|local-1-0|> with height 14
Target Placement Location: <|olive|><|container|> at <|5-20|><|local-3-3|> 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: <|5-20|><|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 cause the container is empty.
Step 7: Open gripper to drop the <|white|><|moon|> into <|olive|><|container|>.
| [{"navy-triangular prism": [18, 83, 28]}, {"white-moon": [81, 56, 14]}, {"blue-cylinder": [19, 23, 30]}, {"azure-star": [26, 7, 11]}, {"olive-container": [23, 83, 18]}, {"blue-container": [46, 7, 10]}] | Pick up the moon and place it into the olive container | [
[
81,
56,
24,
0,
60,
90,
1
],
[
81,
56,
0,
0,
60,
90,
1
],
[
81,
56,
0,
0,
60,
90,
0
],
[
81,
56,
24,
0,
60,
90,
0
],
[
23,
83,
24,
0,
60,
90,
0
],
[
23,
83,
18,
0,
60,
90,
0
],
[
23,
83,
18,
0,
60,
90,
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 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|navy|><|triangular prism|>\": 28, \"<|white|><|moon|>\": 14, \"<|blue|><|cylinder|>\": 30, \"<|azure|><|star|>\": 11, \"<|olive|><|container|>\": 18, \"<|blue|><|container|>\": 10}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the moon and place it into the olive container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|local-3-3|><|blue|><|cylinder|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|local-2-3|><|navy|><|triangular prism|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|local-3-3|><|olive|><|container|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|local-2-3|><|azure|><|star|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|local-2-3|><|blue|><|container|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|local-1-0|><|white|><|moon|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|white|><|moon|> found at <|20-14|><|local-1-0|> with height 14\nTarget Placement Location: <|olive|><|container|> at <|5-20|><|local-3-3|> with height 18\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|5-20|><|local-3-3|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|white|><|moon|> into <|olive|><|container|>.\n\n</think>\n\nStep 1: [\"<|20-14|>\", \"<|local-1-0|>\", 24, 0, 60, 90, 1]\nStep 2: [\"<|20-14|>\", \"<|local-1-0|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|20-14|>\", \"<|local-1-0|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|20-14|>\", \"<|local-1-0|>\", 24, 0, 60, 90, 0]\nStep 5: [\"<|5-20|>\", \"<|local-3-3|>\", 24, 0, 60, 90, 0]\nStep 6: [\"<|5-20|>\", \"<|local-3-3|>\", 18, 0, 60, 90, 0]\nStep 7: [\"<|5-20|>\", \"<|local-3-3|>\", 18, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|green|><|moon|>": ["<|8-17|><|local-0-0|>", 8]}] | [{"<|magenta|><|moon|>": ["<|19-23|><|local-0-3|>", 28]}] | LOCATE OBJECTS:
Target Object: <|green|><|moon|> found at <|8-17|><|local-0-0|> with height 8
Target Placement Location: <|magenta|><|moon|> at <|19-23|><|local-0-3|> 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: <|19-23|><|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.
| [{"magenta-moon": [76, 95, 28]}, {"cyan-moon": [55, 72, 20]}, {"green-moon": [32, 68, 8]}, {"rose-moon": [25, 2, 12]}, {"maroon-cube": [48, 67, 21]}] | Stack the green moon on top of the magenta moon | [
[
32,
68,
18,
0,
60,
90,
1
],
[
32,
68,
0,
0,
60,
90,
1
],
[
32,
68,
0,
0,
60,
90,
0
],
[
32,
68,
18,
0,
60,
90,
0
],
[
76,
95,
18,
0,
60,
90,
0
],
[
76,
95,
29,
0,
60,
90,
0
],
[
76,
95,
29,
0,
60,
90,
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 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|magenta|><|moon|>\": 28, \"<|cyan|><|moon|>\": 20, \"<|green|><|moon|>\": 8, \"<|rose|><|moon|>\": 12, \"<|maroon|><|cube|>\": 21}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the green moon on top of the magenta moon\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|local-1-2|><|rose|><|moon|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|local-0-0|><|green|><|moon|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|local-0-3|><|maroon|><|cube|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|local-3-0|><|cyan|><|moon|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|local-0-3|><|magenta|><|moon|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|green|><|moon|> found at <|8-17|><|local-0-0|> with height 8\nTarget Placement Location: <|magenta|><|moon|> at <|19-23|><|local-0-3|> with height 28\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|19-23|><|local-0-3|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|8-17|>\", \"<|local-0-0|>\", 18, 0, 60, 90, 1]\nStep 2: [\"<|8-17|>\", \"<|local-0-0|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|8-17|>\", \"<|local-0-0|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|8-17|>\", \"<|local-0-0|>\", 18, 0, 60, 90, 0]\nStep 5: [\"<|19-23|>\", \"<|local-0-3|>\", 18, 0, 60, 90, 0]\nStep 6: [\"<|19-23|>\", \"<|local-0-3|>\", 29, 0, 60, 90, 0]\nStep 7: [\"<|19-23|>\", \"<|local-0-3|>\", 29, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|red|><|triangular prism|>": ["<|15-21|><|local-2-2|>", 26]}] | [{"<|red|><|container|>": ["<|22-18|><|local-1-0|>", 30]}] | LOCATE OBJECTS:
Target Object: <|red|><|triangular prism|> found at <|15-21|><|local-2-2|> with height 26
Target Placement Location: <|red|><|container|> at <|22-18|><|local-1-0|> 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: <|22-18|><|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 <|red|><|triangular prism|> into <|red|><|container|>.
| [{"magenta-star": [44, 45, 17]}, {"blue-container": [6, 12, 28]}, {"green-container": [25, 52, 14]}, {"red-triangular prism": [62, 86, 26]}, {"red-container": [89, 72, 30]}] | Pick up the triangular prism and place it into the red container | [
[
62,
86,
36,
0,
60,
90,
1
],
[
62,
86,
0,
0,
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90,
1
],
[
62,
86,
0,
0,
60,
90,
0
],
[
62,
86,
36,
0,
60,
90,
0
],
[
89,
72,
36,
0,
60,
90,
0
],
[
89,
72,
30,
0,
60,
90,
0
],
[
89,
72,
30,
0,
60,
90,
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 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|magenta|><|star|>\": 17, \"<|blue|><|container|>\": 28, \"<|green|><|container|>\": 14, \"<|red|><|triangular prism|>\": 26, \"<|red|><|container|>\": 30}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the triangular prism and place it into the red container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|local-2-0|><|blue|><|container|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|local-1-0|><|green|><|container|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|local-0-1|><|magenta|><|star|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|local-2-2|><|red|><|triangular prism|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|local-1-0|><|red|><|container|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|red|><|triangular prism|> found at <|15-21|><|local-2-2|> with height 26\nTarget Placement Location: <|red|><|container|> at <|22-18|><|local-1-0|> with height 30\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|22-18|><|local-1-0|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|red|><|triangular prism|> into <|red|><|container|>.\n\n</think>\n\nStep 1: [\"<|15-21|>\", \"<|local-2-2|>\", 36, 0, 60, 90, 1]\nStep 2: [\"<|15-21|>\", \"<|local-2-2|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|15-21|>\", \"<|local-2-2|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|15-21|>\", \"<|local-2-2|>\", 36, 0, 60, 90, 0]\nStep 5: [\"<|22-18|>\", \"<|local-1-0|>\", 36, 0, 60, 90, 0]\nStep 6: [\"<|22-18|>\", \"<|local-1-0|>\", 30, 0, 60, 90, 0]\nStep 7: [\"<|22-18|>\", \"<|local-1-0|>\", 30, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|teal|><|moon|>": ["<|6-11|><|local-0-0|>", 18]}] | [{"<|cyan|><|moon|>": ["<|4-8|><|local-1-2|>", 14]}] | LOCATE OBJECTS:
Target Object: <|teal|><|moon|> found at <|6-11|><|local-0-0|> with height 18
Target Placement Location: <|cyan|><|moon|> at <|4-8|><|local-1-2|> 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: <|4-8|><|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.
| [{"black-moon": [79, 31, 18]}, {"gray-triangular prism": [29, 52, 20]}, {"cyan-cube": [11, 16, 7]}, {"cyan-moon": [17, 34, 14]}, {"teal-moon": [24, 44, 18]}] | Stack the cyan moon and the teal moon in sequence. | [
[
24,
44,
28,
0,
60,
90,
1
],
[
24,
44,
0,
0,
60,
90,
1
],
[
24,
44,
0,
0,
60,
90,
0
],
[
24,
44,
28,
0,
60,
90,
0
],
[
17,
34,
28,
0,
60,
90,
0
],
[
17,
34,
15,
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[
17,
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{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|black|><|moon|>\": 18, \"<|gray|><|triangular prism|>\": 20, \"<|cyan|><|cube|>\": 7, \"<|cyan|><|moon|>\": 14, \"<|teal|><|moon|>\": 18}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the cyan moon and the teal moon in sequence.\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|local-3-0|><|cyan|><|cube|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|local-1-2|><|cyan|><|moon|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|local-0-0|><|teal|><|moon|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|local-1-0|><|gray|><|triangular prism|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|local-3-3|><|black|><|moon|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|teal|><|moon|> found at <|6-11|><|local-0-0|> with height 18\nTarget Placement Location: <|cyan|><|moon|> at <|4-8|><|local-1-2|> with height 14\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|4-8|><|local-1-2|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|6-11|>\", \"<|local-0-0|>\", 28, 0, 60, 90, 1]\nStep 2: [\"<|6-11|>\", \"<|local-0-0|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|6-11|>\", \"<|local-0-0|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|6-11|>\", \"<|local-0-0|>\", 28, 0, 60, 90, 0]\nStep 5: [\"<|4-8|>\", \"<|local-1-2|>\", 28, 0, 60, 90, 0]\nStep 6: [\"<|4-8|>\", \"<|local-1-2|>\", 15, 0, 60, 90, 0]\nStep 7: [\"<|4-8|>\", \"<|local-1-2|>\", 15, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|navy|><|cube|>": ["<|1-14|><|local-1-3|>", 30]}] | [{"<|teal|><|container|>": ["<|24-18|><|local-1-0|>", 30]}] | LOCATE OBJECTS:
Target Object: <|navy|><|cube|> found at <|1-14|><|local-1-3|> with height 30
Target Placement Location: <|teal|><|container|> at <|24-18|><|local-1-0|> 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: <|24-18|><|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 <|navy|><|cube|> into <|teal|><|container|>.
| [{"teal-container": [97, 72, 30]}, {"navy-cube": [5, 59, 30]}, {"cyan-container": [26, 94, 12]}, {"black-triangular prism": [10, 64, 12]}, {"violet-container": [3, 55, 26]}] | Pick up the cube and place it into the teal container | [
[
5,
59,
40,
0,
60,
90,
1
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[
5,
59,
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[
5,
59,
0,
0,
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90,
0
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[
5,
59,
40,
0,
60,
90,
0
],
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{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|teal|><|container|>\": 30, \"<|navy|><|cube|>\": 30, \"<|cyan|><|container|>\": 12, \"<|black|><|triangular prism|>\": 12, \"<|violet|><|container|>\": 26}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the cube and place it into the teal container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|local-3-3|><|violet|><|container|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|local-1-3|><|navy|><|cube|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|local-2-0|><|black|><|triangular prism|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|local-2-2|><|cyan|><|container|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|local-1-0|><|teal|><|container|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|navy|><|cube|> found at <|1-14|><|local-1-3|> with height 30\nTarget Placement Location: <|teal|><|container|> at <|24-18|><|local-1-0|> with height 30\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|24-18|><|local-1-0|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|navy|><|cube|> into <|teal|><|container|>.\n\n</think>\n\nStep 1: [\"<|1-14|>\", \"<|local-1-3|>\", 40, 0, 60, 90, 1]\nStep 2: [\"<|1-14|>\", \"<|local-1-3|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|1-14|>\", \"<|local-1-3|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|1-14|>\", \"<|local-1-3|>\", 40, 0, 60, 90, 0]\nStep 5: [\"<|24-18|>\", \"<|local-1-0|>\", 40, 0, 60, 90, 0]\nStep 6: [\"<|24-18|>\", \"<|local-1-0|>\", 30, 0, 60, 90, 0]\nStep 7: [\"<|24-18|>\", \"<|local-1-0|>\", 30, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|navy|><|cylinder|>": ["<|13-24|><|local-0-0|>", 12]}] | [{"<|green|><|container|>": ["<|9-5|><|local-3-1|>", 10]}] | LOCATE OBJECTS:
Target Object: <|navy|><|cylinder|> found at <|13-24|><|local-0-0|> with height 12
Target Placement Location: <|green|><|container|> at <|9-5|><|local-3-1|> 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: <|9-5|><|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 cause the container is empty.
Step 7: Open gripper to drop the <|navy|><|cylinder|> into <|green|><|container|>.
| [{"azure-cylinder": [82, 70, 26]}, {"cyan-star": [3, 28, 26]}, {"navy-cylinder": [52, 96, 12]}, {"green-container": [39, 21, 10]}, {"navy-container": [60, 34, 15]}, {"green-cube": [17, 9, 6]}, {"white-star": [96, 96, 8]}] | Pick up the navy cylinder and place it into the green container | [
[
52,
96,
22,
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60,
90,
1
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[
52,
96,
0,
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{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|azure|><|cylinder|>\": 26, \"<|cyan|><|star|>\": 26, \"<|navy|><|cylinder|>\": 12, \"<|green|><|container|>\": 10, \"<|navy|><|container|>\": 15, \"<|green|><|cube|>\": 6, \"<|white|><|star|>\": 8}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the navy cylinder and place it into the green container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|local-3-0|><|cyan|><|star|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|local-1-1|><|green|><|cube|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|local-3-1|><|green|><|container|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|local-0-0|><|navy|><|cylinder|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|local-0-2|><|navy|><|container|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|local-2-2|><|azure|><|cylinder|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|local-0-0|><|white|><|star|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|navy|><|cylinder|> found at <|13-24|><|local-0-0|> with height 12\nTarget Placement Location: <|green|><|container|> at <|9-5|><|local-3-1|> with height 10\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|9-5|><|local-3-1|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|navy|><|cylinder|> into <|green|><|container|>.\n\n</think>\n\nStep 1: [\"<|13-24|>\", \"<|local-0-0|>\", 22, 0, 60, 90, 1]\nStep 2: [\"<|13-24|>\", \"<|local-0-0|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|13-24|>\", \"<|local-0-0|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|13-24|>\", \"<|local-0-0|>\", 22, 0, 60, 90, 0]\nStep 5: [\"<|9-5|>\", \"<|local-3-1|>\", 22, 0, 60, 90, 0]\nStep 6: [\"<|9-5|>\", \"<|local-3-1|>\", 10, 0, 60, 90, 0]\nStep 7: [\"<|9-5|>\", \"<|local-3-1|>\", 10, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|violet|><|cylinder|>": ["<|3-10|><|local-2-3|>", 15]}] | [{"<|teal|><|container|>": ["<|23-16|><|local-2-1|>", 11]}] | LOCATE OBJECTS:
Target Object: <|violet|><|cylinder|> found at <|3-10|><|local-2-3|> with height 15
Target Placement Location: <|teal|><|container|> at <|23-16|><|local-2-1|> 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: <|23-16|><|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 <|violet|><|cylinder|> into <|teal|><|container|>.
| [{"black-moon": [56, 2, 18]}, {"magenta-container": [97, 12, 24]}, {"teal-container": [94, 65, 11]}, {"lime-container": [30, 49, 13]}, {"green-cube": [76, 10, 9]}, {"magenta-cube": [34, 8, 6]}, {"violet-cylinder": [14, 43, 15]}] | Pick up the violet cylinder and place it into the teal container | [
[
14,
43,
25,
0,
60,
90,
1
],
[
14,
43,
0,
0,
60,
90,
1
],
[
14,
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0,
60,
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],
[
14,
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25,
0,
60,
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],
[
94,
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90,
0
],
[
94,
65,
11,
0,
60,
90,
0
],
[
94,
65,
11,
0,
60,
90,
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 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|black|><|moon|>\": 18, \"<|magenta|><|container|>\": 24, \"<|teal|><|container|>\": 11, \"<|lime|><|container|>\": 13, \"<|green|><|cube|>\": 9, \"<|magenta|><|cube|>\": 6, \"<|violet|><|cylinder|>\": 15}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the violet cylinder and place it into the teal container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|local-2-3|><|violet|><|cylinder|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|local-2-1|><|lime|><|container|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|local-2-0|><|magenta|><|cube|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|local-0-2|><|black|><|moon|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|local-0-2|><|green|><|cube|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|local-2-1|><|teal|><|container|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|local-1-0|><|magenta|><|container|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|violet|><|cylinder|> found at <|3-10|><|local-2-3|> with height 15\nTarget Placement Location: <|teal|><|container|> at <|23-16|><|local-2-1|> with height 11\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|23-16|><|local-2-1|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|violet|><|cylinder|> into <|teal|><|container|>.\n\n</think>\n\nStep 1: [\"<|3-10|>\", \"<|local-2-3|>\", 25, 0, 60, 90, 1]\nStep 2: [\"<|3-10|>\", \"<|local-2-3|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|3-10|>\", \"<|local-2-3|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|3-10|>\", \"<|local-2-3|>\", 25, 0, 60, 90, 0]\nStep 5: [\"<|23-16|>\", \"<|local-2-1|>\", 25, 0, 60, 90, 0]\nStep 6: [\"<|23-16|>\", \"<|local-2-1|>\", 11, 0, 60, 90, 0]\nStep 7: [\"<|23-16|>\", \"<|local-2-1|>\", 11, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|maroon|><|cylinder|>": ["<|2-24|><|local-1-2|>", 2]}] | [{"<|olive|><|container|>": ["<|0-0|><|local-2-1|>", 20]}] | LOCATE OBJECTS:
Target Object: <|maroon|><|cylinder|> found at <|2-24|><|local-1-2|> with height 2
Target Placement Location: <|olive|><|container|> at <|0-0|><|local-2-1|> with height 20
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: <|0-0|><|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 <|maroon|><|cylinder|> into <|olive|><|container|>.
| [{"olive-container": [2, 1, 20]}, {"black-cube": [78, 84, 28]}, {"white-star": [87, 27, 21]}, {"black-moon": [74, 79, 11]}, {"maroon-cylinder": [9, 98, 2]}, {"white-container": [12, 27, 2]}] | Pick up the cylinder and place it into the olive container | [
[
9,
98,
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0,
60,
90,
1
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9,
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[
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[
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60,
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[
2,
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12,
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60,
90,
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[
2,
1,
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60,
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0
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[
2,
1,
20,
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] | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|olive|><|container|>\": 20, \"<|black|><|cube|>\": 28, \"<|white|><|star|>\": 21, \"<|black|><|moon|>\": 11, \"<|maroon|><|cylinder|>\": 2, \"<|white|><|container|>\": 2}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the cylinder and place it into the olive container\n<desk>\n<|0-0|><|local-2-1|><|olive|><|container|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|local-1-2|><|maroon|><|cylinder|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|local-0-3|><|white|><|container|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|local-2-3|><|black|><|moon|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|local-2-0|><|black|><|cube|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|local-3-3|><|white|><|star|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|maroon|><|cylinder|> found at <|2-24|><|local-1-2|> with height 2\nTarget Placement Location: <|olive|><|container|> at <|0-0|><|local-2-1|> with height 20\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|0-0|><|local-2-1|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|maroon|><|cylinder|> into <|olive|><|container|>.\n\n</think>\n\nStep 1: [\"<|2-24|>\", \"<|local-1-2|>\", 15, 0, 60, 90, 1]\nStep 2: [\"<|2-24|>\", \"<|local-1-2|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|2-24|>\", \"<|local-1-2|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|2-24|>\", \"<|local-1-2|>\", 14, 0, 60, 90, 0]\nStep 5: [\"<|0-0|>\", \"<|local-2-1|>\", 12, 0, 60, 90, 0]\nStep 6: [\"<|0-0|>\", \"<|local-2-1|>\", 20, 0, 60, 90, 0]\nStep 7: [\"<|0-0|>\", \"<|local-2-1|>\", 20, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|silver|><|cylinder|>": ["<|21-20|><|local-0-1|>", 23]}] | [{"<|yellow|><|container|>": ["<|15-3|><|local-1-3|>", 20]}] | LOCATE OBJECTS:
Target Object: <|silver|><|cylinder|> found at <|21-20|><|local-0-1|> with height 23
Target Placement Location: <|yellow|><|container|> at <|15-3|><|local-1-3|> with height 20
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: <|15-3|><|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 <|silver|><|cylinder|> into <|yellow|><|container|>.
| [{"magenta-triangular prism": [69, 91, 9]}, {"green-container": [52, 24, 14]}, {"silver-cylinder": [84, 81, 23]}, {"red-container": [2, 90, 1]}, {"yellow-container": [61, 15, 20]}] | Pick up the silver cylinder and place it into the yellow container | [
[
84,
81,
33,
0,
60,
90,
1
],
[
84,
81,
0,
0,
60,
90,
1
],
[
84,
81,
0,
0,
60,
90,
0
],
[
84,
81,
33,
0,
60,
90,
0
],
[
61,
15,
33,
0,
60,
90,
0
],
[
61,
15,
20,
0,
60,
90,
0
],
[
61,
15,
20,
0,
60,
90,
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 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|magenta|><|triangular prism|>\": 9, \"<|green|><|container|>\": 14, \"<|silver|><|cylinder|>\": 23, \"<|red|><|container|>\": 1, \"<|yellow|><|container|>\": 20}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the silver cylinder and place it into the yellow container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|local-2-2|><|red|><|container|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|local-0-0|><|green|><|container|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|local-1-3|><|yellow|><|container|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|local-1-3|><|magenta|><|triangular prism|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|local-0-1|><|silver|><|cylinder|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|silver|><|cylinder|> found at <|21-20|><|local-0-1|> with height 23\nTarget Placement Location: <|yellow|><|container|> at <|15-3|><|local-1-3|> with height 20\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|15-3|><|local-1-3|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|silver|><|cylinder|> into <|yellow|><|container|>.\n\n</think>\n\nStep 1: [\"<|21-20|>\", \"<|local-0-1|>\", 33, 0, 60, 90, 1]\nStep 2: [\"<|21-20|>\", \"<|local-0-1|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|21-20|>\", \"<|local-0-1|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|21-20|>\", \"<|local-0-1|>\", 33, 0, 60, 90, 0]\nStep 5: [\"<|15-3|>\", \"<|local-1-3|>\", 33, 0, 60, 90, 0]\nStep 6: [\"<|15-3|>\", \"<|local-1-3|>\", 20, 0, 60, 90, 0]\nStep 7: [\"<|15-3|>\", \"<|local-1-3|>\", 20, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|gray|><|cube|>": ["<|19-13|><|local-2-2|>", 15]}] | [{"<|magenta|><|container|>": ["<|13-9|><|local-0-2|>", 13]}] | LOCATE OBJECTS:
Target Object: <|gray|><|cube|> found at <|19-13|><|local-2-2|> with height 15
Target Placement Location: <|magenta|><|container|> at <|13-9|><|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: <|13-9|><|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 <|gray|><|cube|> into <|magenta|><|container|>.
| [{"olive-moon": [66, 21, 24]}, {"green-cylinder": [85, 25, 10]}, {"magenta-container": [52, 38, 13]}, {"blue-container": [6, 77, 14]}, {"navy-container": [26, 76, 12]}, {"gray-cube": [78, 54, 15]}] | Pick up the gray cube and place it into the magenta container | [
[
78,
54,
25,
0,
60,
90,
1
],
[
78,
54,
0,
0,
60,
90,
1
],
[
78,
54,
0,
0,
60,
90,
0
],
[
78,
54,
25,
0,
60,
90,
0
],
[
52,
38,
25,
0,
60,
90,
0
],
[
52,
38,
13,
0,
60,
90,
0
],
[
52,
38,
13,
0,
60,
90,
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 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|olive|><|moon|>\": 24, \"<|green|><|cylinder|>\": 10, \"<|magenta|><|container|>\": 13, \"<|blue|><|container|>\": 14, \"<|navy|><|container|>\": 12, \"<|gray|><|cube|>\": 15}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the gray cube and place it into the magenta container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|local-2-1|><|blue|><|container|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|local-2-0|><|navy|><|container|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|local-0-2|><|magenta|><|container|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|local-2-1|><|olive|><|moon|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|local-2-2|><|gray|><|cube|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|local-1-1|><|green|><|cylinder|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|gray|><|cube|> found at <|19-13|><|local-2-2|> with height 15\nTarget Placement Location: <|magenta|><|container|> at <|13-9|><|local-0-2|> with height 13\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|13-9|><|local-0-2|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|gray|><|cube|> into <|magenta|><|container|>.\n\n</think>\n\nStep 1: [\"<|19-13|>\", \"<|local-2-2|>\", 25, 0, 60, 90, 1]\nStep 2: [\"<|19-13|>\", \"<|local-2-2|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|19-13|>\", \"<|local-2-2|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|19-13|>\", \"<|local-2-2|>\", 25, 0, 60, 90, 0]\nStep 5: [\"<|13-9|>\", \"<|local-0-2|>\", 25, 0, 60, 90, 0]\nStep 6: [\"<|13-9|>\", \"<|local-0-2|>\", 13, 0, 60, 90, 0]\nStep 7: [\"<|13-9|>\", \"<|local-0-2|>\", 13, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|magenta|><|star|>": ["<|13-8|><|local-3-0|>", 18]}] | [{"<|azure|><|container|>": ["<|8-21|><|local-3-1|>", 7]}] | LOCATE OBJECTS:
Target Object: <|magenta|><|star|> found at <|13-8|><|local-3-0|> with height 18
Target Placement Location: <|azure|><|container|> at <|8-21|><|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: <|8-21|><|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 cause the container is empty.
Step 7: Open gripper to drop the <|magenta|><|star|> into <|azure|><|container|>.
| [{"azure-container": [35, 85, 7]}, {"magenta-container": [36, 20, 30]}, {"green-container": [67, 68, 30]}, {"magenta-star": [55, 32, 18]}, {"yellow-moon": [46, 76, 8]}] | Pick up the magenta star and place it into the azure container | [
[
55,
32,
28,
0,
60,
90,
1
],
[
55,
32,
0,
0,
60,
90,
1
],
[
55,
32,
0,
0,
60,
90,
0
],
[
55,
32,
28,
0,
60,
90,
0
],
[
35,
85,
28,
0,
60,
90,
0
],
[
35,
85,
7,
0,
60,
90,
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{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|azure|><|container|>\": 7, \"<|magenta|><|container|>\": 30, \"<|green|><|container|>\": 30, \"<|magenta|><|star|>\": 18, \"<|yellow|><|moon|>\": 8}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the magenta star and place it into the azure container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|local-3-1|><|azure|><|container|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|local-0-0|><|magenta|><|container|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|local-2-0|><|yellow|><|moon|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|local-3-0|><|magenta|><|star|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|local-3-0|><|green|><|container|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|magenta|><|star|> found at <|13-8|><|local-3-0|> with height 18\nTarget Placement Location: <|azure|><|container|> at <|8-21|><|local-3-1|> with height 7\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|8-21|><|local-3-1|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|magenta|><|star|> into <|azure|><|container|>.\n\n</think>\n\nStep 1: [\"<|13-8|>\", \"<|local-3-0|>\", 28, 0, 60, 90, 1]\nStep 2: [\"<|13-8|>\", \"<|local-3-0|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|13-8|>\", \"<|local-3-0|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|13-8|>\", \"<|local-3-0|>\", 28, 0, 60, 90, 0]\nStep 5: [\"<|8-21|>\", \"<|local-3-1|>\", 28, 0, 60, 90, 0]\nStep 6: [\"<|8-21|>\", \"<|local-3-1|>\", 7, 0, 60, 90, 0]\nStep 7: [\"<|8-21|>\", \"<|local-3-1|>\", 7, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|red|><|cylinder|>": ["<|8-8|><|local-2-0|>", 28]}] | [{"<|purple|><|container|>": ["<|5-21|><|local-2-1|>", 11]}] | LOCATE OBJECTS:
Target Object: <|red|><|cylinder|> found at <|8-8|><|local-2-0|> with height 28
Target Placement Location: <|purple|><|container|> at <|5-21|><|local-2-1|> 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: <|5-21|><|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|><|cylinder|> into <|purple|><|container|>.
| [{"azure-container": [47, 88, 17]}, {"red-cylinder": [34, 32, 28]}, {"gray-moon": [56, 54, 20]}, {"lime-cube": [86, 12, 27]}, {"purple-container": [22, 85, 11]}] | Pick up the cylinder and place it into the purple container | [
[
34,
32,
38,
0,
60,
90,
1
],
[
34,
32,
0,
0,
60,
90,
1
],
[
34,
32,
0,
0,
60,
90,
0
],
[
34,
32,
38,
0,
60,
90,
0
],
[
22,
85,
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{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|azure|><|container|>\": 17, \"<|red|><|cylinder|>\": 28, \"<|gray|><|moon|>\": 20, \"<|lime|><|cube|>\": 27, \"<|purple|><|container|>\": 11}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the cylinder and place it into the purple container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|local-2-1|><|purple|><|container|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|local-2-0|><|red|><|cylinder|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|local-3-0|><|azure|><|container|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|local-0-2|><|gray|><|moon|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|local-2-0|><|lime|><|cube|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|red|><|cylinder|> found at <|8-8|><|local-2-0|> with height 28\nTarget Placement Location: <|purple|><|container|> at <|5-21|><|local-2-1|> with height 11\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|5-21|><|local-2-1|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|red|><|cylinder|> into <|purple|><|container|>.\n\n</think>\n\nStep 1: [\"<|8-8|>\", \"<|local-2-0|>\", 38, 0, 60, 90, 1]\nStep 2: [\"<|8-8|>\", \"<|local-2-0|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|8-8|>\", \"<|local-2-0|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|8-8|>\", \"<|local-2-0|>\", 38, 0, 60, 90, 0]\nStep 5: [\"<|5-21|>\", \"<|local-2-1|>\", 38, 0, 60, 90, 0]\nStep 6: [\"<|5-21|>\", \"<|local-2-1|>\", 11, 0, 60, 90, 0]\nStep 7: [\"<|5-21|>\", \"<|local-2-1|>\", 11, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|azure|><|star|>": ["<|6-5|><|local-0-2|>", 11]}] | [{"<|teal|><|moon|>": ["<|9-17|><|local-1-3|>", 20]}] | LOCATE OBJECTS:
Target Object: <|azure|><|star|> found at <|6-5|><|local-0-2|> with height 11
Target Placement Location: <|teal|><|moon|> at <|9-17|><|local-1-3|> with height 20
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: <|9-17|><|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.
| [{"gray-cylinder": [19, 96, 6]}, {"gray-star": [30, 1, 11]}, {"teal-moon": [37, 71, 20]}, {"purple-triangular prism": [5, 33, 11]}, {"azure-star": [24, 22, 11]}, {"olive-cylinder": [47, 91, 11]}] | Stack the azure star on top of the teal moon | [
[
24,
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60,
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1
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[
24,
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[
24,
22,
0,
0,
60,
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{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|gray|><|cylinder|>\": 6, \"<|gray|><|star|>\": 11, \"<|teal|><|moon|>\": 20, \"<|purple|><|triangular prism|>\": 11, \"<|azure|><|star|>\": 11, \"<|olive|><|cylinder|>\": 11}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the azure star on top of the teal moon\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|local-1-1|><|purple|><|triangular prism|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|local-3-0|><|gray|><|cylinder|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|local-0-2|><|azure|><|star|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|local-2-1|><|gray|><|star|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|local-1-3|><|teal|><|moon|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|local-3-3|><|olive|><|cylinder|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|azure|><|star|> found at <|6-5|><|local-0-2|> with height 11\nTarget Placement Location: <|teal|><|moon|> at <|9-17|><|local-1-3|> with height 20\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|9-17|><|local-1-3|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|6-5|>\", \"<|local-0-2|>\", 21, 0, 60, 90, 1]\nStep 2: [\"<|6-5|>\", \"<|local-0-2|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|6-5|>\", \"<|local-0-2|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|6-5|>\", \"<|local-0-2|>\", 21, 0, 60, 90, 0]\nStep 5: [\"<|9-17|>\", \"<|local-1-3|>\", 21, 0, 60, 90, 0]\nStep 6: [\"<|9-17|>\", \"<|local-1-3|>\", 21, 0, 60, 90, 0]\nStep 7: [\"<|9-17|>\", \"<|local-1-3|>\", 21, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|olive|><|star|>": ["<|18-2|><|local-0-3|>", 27]}] | [{"<|violet|><|cylinder|>": ["<|11-11|><|local-1-2|>", 28]}] | LOCATE OBJECTS:
Target Object: <|olive|><|star|> found at <|18-2|><|local-0-3|> with height 27
Target Placement Location: <|violet|><|cylinder|> at <|11-11|><|local-1-2|> 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: <|11-11|><|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 + 1 to avoid collision.
Step 7: Open gripper to finish the task.
| [{"blue-moon": [54, 96, 6]}, {"olive-star": [72, 11, 27]}, {"blue-cube": [5, 12, 3]}, {"violet-cylinder": [45, 46, 28]}, {"silver-triangular prism": [47, 23, 27]}, {"maroon-cylinder": [28, 97, 14]}] | Stack the violet cylinder and the olive star in sequence. | [
[
72,
11,
37,
0,
60,
90,
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[
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{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|blue|><|moon|>\": 6, \"<|olive|><|star|>\": 27, \"<|blue|><|cube|>\": 3, \"<|violet|><|cylinder|>\": 28, \"<|silver|><|triangular prism|>\": 27, \"<|maroon|><|cylinder|>\": 14}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the violet cylinder and the olive star in sequence.\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|local-1-0|><|blue|><|cube|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|local-0-1|><|maroon|><|cylinder|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|local-3-3|><|silver|><|triangular prism|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|local-1-2|><|violet|><|cylinder|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|local-2-0|><|blue|><|moon|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|local-0-3|><|olive|><|star|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|olive|><|star|> found at <|18-2|><|local-0-3|> with height 27\nTarget Placement Location: <|violet|><|cylinder|> at <|11-11|><|local-1-2|> with height 28\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|11-11|><|local-1-2|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|18-2|>\", \"<|local-0-3|>\", 37, 0, 60, 90, 1]\nStep 2: [\"<|18-2|>\", \"<|local-0-3|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|18-2|>\", \"<|local-0-3|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|18-2|>\", \"<|local-0-3|>\", 37, 0, 60, 90, 0]\nStep 5: [\"<|11-11|>\", \"<|local-1-2|>\", 37, 0, 60, 90, 0]\nStep 6: [\"<|11-11|>\", \"<|local-1-2|>\", 29, 0, 60, 90, 0]\nStep 7: [\"<|11-11|>\", \"<|local-1-2|>\", 29, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|blue|><|cylinder|>": ["<|20-12|><|local-1-2|>", 26]}] | [{"<|white|><|container|>": ["<|3-2|><|local-2-0|>", 6]}] | LOCATE OBJECTS:
Target Object: <|blue|><|cylinder|> found at <|20-12|><|local-1-2|> with height 26
Target Placement Location: <|white|><|container|> at <|3-2|><|local-2-0|> 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: <|3-2|><|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 <|blue|><|cylinder|> into <|white|><|container|>.
| [{"white-container": [14, 8, 6]}, {"purple-container": [38, 23, 17]}, {"cyan-moon": [84, 11, 6]}, {"blue-cylinder": [81, 50, 26]}, {"violet-container": [62, 56, 16]}] | Pick up the blue cylinder and place it into the white container | [
[
81,
50,
36,
0,
60,
90,
1
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81,
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81,
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],
[
14,
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[
14,
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6,
0,
60,
90,
0
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[
14,
8,
6,
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] | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|white|><|container|>\": 6, \"<|purple|><|container|>\": 17, \"<|cyan|><|moon|>\": 6, \"<|blue|><|cylinder|>\": 26, \"<|violet|><|container|>\": 16}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the blue cylinder and place it into the white container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|local-2-0|><|white|><|container|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|local-2-3|><|purple|><|container|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|local-2-0|><|violet|><|container|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|local-1-2|><|blue|><|cylinder|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|local-0-3|><|cyan|><|moon|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|blue|><|cylinder|> found at <|20-12|><|local-1-2|> with height 26\nTarget Placement Location: <|white|><|container|> at <|3-2|><|local-2-0|> with height 6\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|3-2|><|local-2-0|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|blue|><|cylinder|> into <|white|><|container|>.\n\n</think>\n\nStep 1: [\"<|20-12|>\", \"<|local-1-2|>\", 36, 0, 60, 90, 1]\nStep 2: [\"<|20-12|>\", \"<|local-1-2|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|20-12|>\", \"<|local-1-2|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|20-12|>\", \"<|local-1-2|>\", 36, 0, 60, 90, 0]\nStep 5: [\"<|3-2|>\", \"<|local-2-0|>\", 36, 0, 60, 90, 0]\nStep 6: [\"<|3-2|>\", \"<|local-2-0|>\", 6, 0, 60, 90, 0]\nStep 7: [\"<|3-2|>\", \"<|local-2-0|>\", 6, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|violet|><|cylinder|>": ["<|23-1|><|local-3-2|>", 6]}] | [{"<|cyan|><|moon|>": ["<|21-20|><|local-2-1|>", 20]}] | LOCATE OBJECTS:
Target Object: <|violet|><|cylinder|> found at <|23-1|><|local-3-2|> with height 6
Target Placement Location: [86, 81] with height 20. Map [86, 81] (100x100) to a 25x25 grid, then a 4x4 subgrid. Result: <|21-20|><|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: <|21-20|><|local-2-1|> at the same height as stage 4.
Step 6: Move on top of target location at target_pos: <|21-20|><|local-2-1|> with height target_height.
Step 7: Open gripper to finish the task.
| [{"violet-cylinder": [95, 6, 6]}, {"white-cube": [21, 22, 17]}, {"black-cylinder": [29, 89, 12]}, {"black-moon": [37, 96, 17]}, {"black-cube": [65, 91, 4]}, {"cyan-moon": [86, 81, 20]}, {"purple-moon": [31, 30, 5]}] | Move the violet cylinder to [86, 81, 20] | [
[
95,
6,
16,
0,
60,
90,
1
],
[
95,
6,
0,
0,
60,
90,
1
],
[
95,
6,
0,
0,
60,
90,
0
],
[
95,
6,
16,
0,
60,
90,
0
],
[
86,
81,
16,
0,
60,
90,
0
],
[
86,
81,
20,
0,
60,
90,
0
],
[
86,
81,
20,
0,
60,
90,
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 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|violet|><|cylinder|>\": 6, \"<|white|><|cube|>\": 17, \"<|black|><|cylinder|>\": 12, \"<|black|><|moon|>\": 17, \"<|black|><|cube|>\": 4, \"<|cyan|><|moon|>\": 20, \"<|purple|><|moon|>\": 5}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Move the violet cylinder to [86, 81, 20]\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|local-1-2|><|white|><|cube|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|local-3-2|><|purple|><|moon|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|local-1-1|><|black|><|cylinder|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|local-1-0|><|black|><|moon|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|local-1-3|><|black|><|cube|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|local-2-1|><|cyan|><|moon|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|local-3-2|><|violet|><|cylinder|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|violet|><|cylinder|> found at <|23-1|><|local-3-2|> with height 6\nTarget Placement Location: [86, 81] with height 20. Map [86, 81] (100x100) to a 25x25 grid, then a 4x4 subgrid. Result: <|21-20|><|local-2-1|>.\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|21-20|><|local-2-1|> at the same height as stage 4.\nStep 6: Move on top of target location at target_pos: <|21-20|><|local-2-1|> with height target_height.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|23-1|>\", \"<|local-3-2|>\", 16, 0, 60, 90, 1]\nStep 2: [\"<|23-1|>\", \"<|local-3-2|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|23-1|>\", \"<|local-3-2|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|23-1|>\", \"<|local-3-2|>\", 16, 0, 60, 90, 0]\nStep 5: [\"<|21-20|>\", \"<|local-2-1|>\", 16, 0, 60, 90, 0]\nStep 6: [\"<|21-20|>\", \"<|local-2-1|>\", 20, 0, 60, 90, 0]\nStep 7: [\"<|21-20|>\", \"<|local-2-1|>\", 20, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|teal|><|cylinder|>": ["<|3-7|><|local-2-1|>", 19]}] | [{"<|navy|><|container|>": ["<|20-6|><|local-2-1|>", 15]}] | LOCATE OBJECTS:
Target Object: <|teal|><|cylinder|> found at <|3-7|><|local-2-1|> with height 19
Target Placement Location: <|navy|><|container|> at <|20-6|><|local-2-1|> 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: <|20-6|><|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 <|teal|><|cylinder|> into <|navy|><|container|>.
| [{"navy-cube": [10, 73, 12]}, {"maroon-container": [90, 69, 9]}, {"teal-cylinder": [14, 29, 19]}, {"azure-container": [29, 56, 19]}, {"navy-container": [82, 25, 15]}] | Pick up the cylinder and place it into the navy container | [
[
14,
29,
29,
0,
60,
90,
1
],
[
14,
29,
0,
0,
60,
90,
1
],
[
14,
29,
0,
0,
60,
90,
0
],
[
14,
29,
29,
0,
60,
90,
0
],
[
82,
25,
29,
0,
60,
90,
0
],
[
82,
25,
15,
0,
60,
90,
0
],
[
82,
25,
15,
0,
60,
90,
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 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|navy|><|cube|>\": 12, \"<|maroon|><|container|>\": 9, \"<|teal|><|cylinder|>\": 19, \"<|azure|><|container|>\": 19, \"<|navy|><|container|>\": 15}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the cylinder and place it into the navy container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|local-2-1|><|navy|><|cube|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|local-2-1|><|teal|><|cylinder|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|local-1-0|><|azure|><|container|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|local-2-1|><|navy|><|container|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|local-2-1|><|maroon|><|container|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|teal|><|cylinder|> found at <|3-7|><|local-2-1|> with height 19\nTarget Placement Location: <|navy|><|container|> at <|20-6|><|local-2-1|> with height 15\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|20-6|><|local-2-1|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|teal|><|cylinder|> into <|navy|><|container|>.\n\n</think>\n\nStep 1: [\"<|3-7|>\", \"<|local-2-1|>\", 29, 0, 60, 90, 1]\nStep 2: [\"<|3-7|>\", \"<|local-2-1|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|3-7|>\", \"<|local-2-1|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|3-7|>\", \"<|local-2-1|>\", 29, 0, 60, 90, 0]\nStep 5: [\"<|20-6|>\", \"<|local-2-1|>\", 29, 0, 60, 90, 0]\nStep 6: [\"<|20-6|>\", \"<|local-2-1|>\", 15, 0, 60, 90, 0]\nStep 7: [\"<|20-6|>\", \"<|local-2-1|>\", 15, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|rose|><|cylinder|>": ["<|24-7|><|local-1-1|>", 16]}] | [{"<|yellow|><|container|>": ["<|9-3|><|local-3-1|>", 13]}] | LOCATE OBJECTS:
Target Object: <|rose|><|cylinder|> found at <|24-7|><|local-1-1|> with height 16
Target Placement Location: <|yellow|><|container|> at <|9-3|><|local-3-1|> 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: <|9-3|><|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 cause the container is empty.
Step 7: Open gripper to drop the <|rose|><|cylinder|> into <|yellow|><|container|>.
| [{"rose-star": [86, 33, 28]}, {"yellow-container": [39, 13, 13]}, {"rose-cylinder": [97, 29, 16]}, {"red-container": [6, 56, 13]}, {"navy-container": [86, 78, 15]}] | Pick up the cylinder and place it into the yellow container | [
[
97,
29,
26,
0,
60,
90,
1
],
[
97,
29,
0,
0,
60,
90,
1
],
[
97,
29,
0,
0,
60,
90,
0
],
[
97,
29,
26,
0,
60,
90,
0
],
[
39,
13,
26,
0,
60,
90,
0
],
[
39,
13,
13,
0,
60,
90,
0
],
[
39,
13,
13,
0,
60,
90,
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 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|rose|><|star|>\": 28, \"<|yellow|><|container|>\": 13, \"<|rose|><|cylinder|>\": 16, \"<|red|><|container|>\": 13, \"<|navy|><|container|>\": 15}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the cylinder and place it into the yellow container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|local-2-0|><|red|><|container|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|local-3-1|><|yellow|><|container|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|local-2-1|><|rose|><|star|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|local-2-2|><|navy|><|container|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|local-1-1|><|rose|><|cylinder|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|rose|><|cylinder|> found at <|24-7|><|local-1-1|> with height 16\nTarget Placement Location: <|yellow|><|container|> at <|9-3|><|local-3-1|> with height 13\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|9-3|><|local-3-1|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|rose|><|cylinder|> into <|yellow|><|container|>.\n\n</think>\n\nStep 1: [\"<|24-7|>\", \"<|local-1-1|>\", 26, 0, 60, 90, 1]\nStep 2: [\"<|24-7|>\", \"<|local-1-1|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|24-7|>\", \"<|local-1-1|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|24-7|>\", \"<|local-1-1|>\", 26, 0, 60, 90, 0]\nStep 5: [\"<|9-3|>\", \"<|local-3-1|>\", 26, 0, 60, 90, 0]\nStep 6: [\"<|9-3|>\", \"<|local-3-1|>\", 13, 0, 60, 90, 0]\nStep 7: [\"<|9-3|>\", \"<|local-3-1|>\", 13, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|violet|><|star|>": ["<|11-20|><|local-3-2|>", 14]}] | [{"<|black|><|cube|>": ["<|9-8|><|local-1-1|>", 2]}] | LOCATE OBJECTS:
Target Object: <|violet|><|star|> found at <|11-20|><|local-3-2|> with height 14
Target Placement Location: <|black|><|cube|> at <|9-8|><|local-1-1|> 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: <|9-8|><|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.
| [{"black-cube": [37, 33, 2]}, {"blue-star": [89, 8, 27]}, {"cyan-cube": [63, 38, 27]}, {"violet-star": [47, 82, 14]}, {"rose-moon": [12, 1, 2]}, {"lime-cylinder": [12, 84, 16]}, {"purple-cylinder": [20, 21, 4]}] | Stack the black cube and the violet star in sequence. | [
[
47,
82,
24,
0,
60,
90,
1
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47,
82,
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[
47,
82,
0,
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[
47,
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24,
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60,
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[
37,
33,
24,
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60,
90,
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[
37,
33,
3,
0,
60,
90,
0
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[
37,
33,
3,
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60,
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1
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] | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|black|><|cube|>\": 2, \"<|blue|><|star|>\": 27, \"<|cyan|><|cube|>\": 27, \"<|violet|><|star|>\": 14, \"<|rose|><|moon|>\": 2, \"<|lime|><|cylinder|>\": 16, \"<|purple|><|cylinder|>\": 4}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the black cube and the violet star in sequence.\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|local-0-1|><|rose|><|moon|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|local-0-0|><|lime|><|cylinder|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|local-0-1|><|purple|><|cylinder|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|local-1-1|><|black|><|cube|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|local-3-2|><|violet|><|star|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|local-3-2|><|cyan|><|cube|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|local-1-0|><|blue|><|star|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|violet|><|star|> found at <|11-20|><|local-3-2|> with height 14\nTarget Placement Location: <|black|><|cube|> at <|9-8|><|local-1-1|> with height 2\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|9-8|><|local-1-1|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|11-20|>\", \"<|local-3-2|>\", 24, 0, 60, 90, 1]\nStep 2: [\"<|11-20|>\", \"<|local-3-2|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|11-20|>\", \"<|local-3-2|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|11-20|>\", \"<|local-3-2|>\", 24, 0, 60, 90, 0]\nStep 5: [\"<|9-8|>\", \"<|local-1-1|>\", 24, 0, 60, 90, 0]\nStep 6: [\"<|9-8|>\", \"<|local-1-1|>\", 3, 0, 60, 90, 0]\nStep 7: [\"<|9-8|>\", \"<|local-1-1|>\", 3, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|green|><|triangular prism|>": ["<|14-10|><|local-0-0|>", 15]}] | [{"<|navy|><|cylinder|>": ["<|3-15|><|local-1-3|>", 19]}] | LOCATE OBJECTS:
Target Object: <|green|><|triangular prism|> found at <|14-10|><|local-0-0|> with height 15
Target Placement Location: [13, 63] with height 19. Map [13, 63] (100x100) to a 25x25 grid, then a 4x4 subgrid. Result: <|3-15|><|local-1-3|>.
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: <|3-15|><|local-1-3|> at the same height as stage 4.
Step 6: Move on top of target location at target_pos: <|3-15|><|local-1-3|> with height target_height.
Step 7: Open gripper to finish the task.
| [{"green-triangular prism": [56, 40, 15]}, {"green-cylinder": [0, 48, 13]}, {"navy-cylinder": [13, 63, 19]}, {"yellow-cube": [90, 25, 1]}, {"silver-cube": [58, 2, 8]}, {"red-cube": [83, 66, 3]}, {"cyan-cylinder": [13, 54, 12]}] | Move the green triangular prism to [13, 63, 19] | [
[
56,
40,
25,
0,
60,
90,
1
],
[
56,
40,
0,
0,
60,
90,
1
],
[
56,
40,
0,
0,
60,
90,
0
],
[
56,
40,
25,
0,
60,
90,
0
],
[
13,
63,
25,
0,
60,
90,
0
],
[
13,
63,
19,
0,
60,
90,
0
],
[
13,
63,
19,
0,
60,
90,
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 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|green|><|triangular prism|>\": 15, \"<|green|><|cylinder|>\": 13, \"<|navy|><|cylinder|>\": 19, \"<|yellow|><|cube|>\": 1, \"<|silver|><|cube|>\": 8, \"<|red|><|cube|>\": 3, \"<|cyan|><|cylinder|>\": 12}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Move the green triangular prism to [13, 63, 19]\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|local-0-0|><|green|><|cylinder|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|local-1-2|><|cyan|><|cylinder|><|3-14|><|empty|><|3-15|><|local-1-3|><|navy|><|cylinder|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|local-2-2|><|silver|><|cube|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|local-0-0|><|green|><|triangular prism|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|local-3-2|><|red|><|cube|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|local-2-1|><|yellow|><|cube|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|green|><|triangular prism|> found at <|14-10|><|local-0-0|> with height 15\nTarget Placement Location: [13, 63] with height 19. Map [13, 63] (100x100) to a 25x25 grid, then a 4x4 subgrid. Result: <|3-15|><|local-1-3|>.\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|3-15|><|local-1-3|> at the same height as stage 4.\nStep 6: Move on top of target location at target_pos: <|3-15|><|local-1-3|> with height target_height.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|14-10|>\", \"<|local-0-0|>\", 25, 0, 60, 90, 1]\nStep 2: [\"<|14-10|>\", \"<|local-0-0|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|14-10|>\", \"<|local-0-0|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|14-10|>\", \"<|local-0-0|>\", 25, 0, 60, 90, 0]\nStep 5: [\"<|3-15|>\", \"<|local-1-3|>\", 25, 0, 60, 90, 0]\nStep 6: [\"<|3-15|>\", \"<|local-1-3|>\", 19, 0, 60, 90, 0]\nStep 7: [\"<|3-15|>\", \"<|local-1-3|>\", 19, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|rose|><|cylinder|>": ["<|3-7|><|local-3-2|>", 20]}] | [{"<|black|><|container|>": ["<|11-9|><|local-1-1|>", 22]}] | LOCATE OBJECTS:
Target Object: <|rose|><|cylinder|> found at <|3-7|><|local-3-2|> with height 20
Target Placement Location: <|black|><|container|> at <|11-9|><|local-1-1|> 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: <|11-9|><|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|><|cylinder|> into <|black|><|container|>.
| [{"navy-star": [98, 80, 4]}, {"blue-cube": [9, 71, 12]}, {"magenta-container": [14, 20, 10]}, {"rose-cylinder": [15, 30, 20]}, {"black-container": [45, 37, 22]}] | Pick up the cylinder and place it into the black container | [
[
15,
30,
30,
0,
60,
90,
1
],
[
15,
30,
0,
0,
60,
90,
1
],
[
15,
30,
0,
0,
60,
90,
0
],
[
15,
30,
30,
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[
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{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|navy|><|star|>\": 4, \"<|blue|><|cube|>\": 12, \"<|magenta|><|container|>\": 10, \"<|rose|><|cylinder|>\": 20, \"<|black|><|container|>\": 22}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the cylinder and place it into the black container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|local-1-3|><|blue|><|cube|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|local-2-0|><|magenta|><|container|><|3-6|><|empty|><|3-7|><|local-3-2|><|rose|><|cylinder|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|local-1-1|><|black|><|container|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|local-2-0|><|navy|><|star|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|rose|><|cylinder|> found at <|3-7|><|local-3-2|> with height 20\nTarget Placement Location: <|black|><|container|> at <|11-9|><|local-1-1|> with height 22\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|11-9|><|local-1-1|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|rose|><|cylinder|> into <|black|><|container|>.\n\n</think>\n\nStep 1: [\"<|3-7|>\", \"<|local-3-2|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|3-7|>\", \"<|local-3-2|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|3-7|>\", \"<|local-3-2|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|3-7|>\", \"<|local-3-2|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|11-9|>\", \"<|local-1-1|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|11-9|>\", \"<|local-1-1|>\", 22, 0, 60, 90, 0]\nStep 7: [\"<|11-9|>\", \"<|local-1-1|>\", 22, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|black|><|cylinder|>": ["<|6-1|><|local-1-1|>", 29]}] | [{"<|red|><|star|>": ["<|0-0|><|local-3-0|>", 10]}] | LOCATE OBJECTS:
Target Object: <|black|><|cylinder|> found at <|6-1|><|local-1-1|> with height 29
Target Placement Location: <|red|><|star|> at <|0-0|><|local-3-0|> 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: <|0-0|><|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.
| [{"black-cylinder": [25, 5, 29]}, {"cyan-moon": [61, 59, 13]}, {"maroon-triangular prism": [45, 63, 26]}, {"white-star": [46, 87, 26]}, {"navy-cylinder": [3, 66, 13]}, {"cyan-cylinder": [94, 69, 26]}, {"red-star": [3, 0, 10]}] | Stack the red star and the black cylinder in sequence. | [
[
25,
5,
39,
0,
60,
90,
1
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[
25,
5,
0,
0,
60,
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[
3,
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{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|black|><|cylinder|>\": 29, \"<|cyan|><|moon|>\": 13, \"<|maroon|><|triangular prism|>\": 26, \"<|white|><|star|>\": 26, \"<|navy|><|cylinder|>\": 13, \"<|cyan|><|cylinder|>\": 26, \"<|red|><|star|>\": 10}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the red star and the black cylinder in sequence.\n<desk>\n<|0-0|><|local-3-0|><|red|><|star|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|local-3-2|><|navy|><|cylinder|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|local-1-1|><|black|><|cylinder|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|local-1-3|><|maroon|><|triangular prism|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|local-2-3|><|white|><|star|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|local-1-3|><|cyan|><|moon|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|local-2-1|><|cyan|><|cylinder|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|black|><|cylinder|> found at <|6-1|><|local-1-1|> with height 29\nTarget Placement Location: <|red|><|star|> at <|0-0|><|local-3-0|> with height 10\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|0-0|><|local-3-0|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|6-1|>\", \"<|local-1-1|>\", 39, 0, 60, 90, 1]\nStep 2: [\"<|6-1|>\", \"<|local-1-1|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|6-1|>\", \"<|local-1-1|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|6-1|>\", \"<|local-1-1|>\", 39, 0, 60, 90, 0]\nStep 5: [\"<|0-0|>\", \"<|local-3-0|>\", 39, 0, 60, 90, 0]\nStep 6: [\"<|0-0|>\", \"<|local-3-0|>\", 11, 0, 60, 90, 0]\nStep 7: [\"<|0-0|>\", \"<|local-3-0|>\", 11, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|blue|><|cube|>": ["<|16-16|><|local-2-0|>", 8]}] | [{"<|maroon|><|cylinder|>": ["<|19-20|><|local-2-2|>", 12]}] | LOCATE OBJECTS:
Target Object: <|blue|><|cube|> found at <|16-16|><|local-2-0|> with height 8
Target Placement Location: <|maroon|><|cylinder|> at <|19-20|><|local-2-2|> 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: <|19-20|><|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.
| [{"blue-cube": [66, 64, 8]}, {"olive-star": [77, 49, 2]}, {"cyan-moon": [7, 85, 1]}, {"silver-star": [94, 63, 15]}, {"maroon-cylinder": [78, 82, 12]}, {"olive-cube": [21, 31, 25]}, {"blue-cylinder": [4, 89, 14]}] | Stack the blue cube on top of the maroon cylinder | [
[
66,
64,
18,
0,
60,
90,
1
],
[
66,
64,
0,
0,
60,
90,
1
],
[
66,
64,
0,
0,
60,
90,
0
],
[
66,
64,
18,
0,
60,
90,
0
],
[
78,
82,
18,
0,
60,
90,
0
],
[
78,
82,
13,
0,
60,
90,
0
],
[
78,
82,
13,
0,
60,
90,
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 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|blue|><|cube|>\": 8, \"<|olive|><|star|>\": 2, \"<|cyan|><|moon|>\": 1, \"<|silver|><|star|>\": 15, \"<|maroon|><|cylinder|>\": 12, \"<|olive|><|cube|>\": 25, \"<|blue|><|cylinder|>\": 14}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the blue cube on top of the maroon cylinder\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|local-3-1|><|cyan|><|moon|><|1-22|><|local-0-1|><|blue|><|cylinder|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|local-1-3|><|olive|><|cube|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|local-2-0|><|blue|><|cube|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|local-1-1|><|olive|><|star|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|local-2-2|><|maroon|><|cylinder|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|local-2-3|><|silver|><|star|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|blue|><|cube|> found at <|16-16|><|local-2-0|> with height 8\nTarget Placement Location: <|maroon|><|cylinder|> at <|19-20|><|local-2-2|> with height 12\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|19-20|><|local-2-2|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|16-16|>\", \"<|local-2-0|>\", 18, 0, 60, 90, 1]\nStep 2: [\"<|16-16|>\", \"<|local-2-0|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|16-16|>\", \"<|local-2-0|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|16-16|>\", \"<|local-2-0|>\", 18, 0, 60, 90, 0]\nStep 5: [\"<|19-20|>\", \"<|local-2-2|>\", 18, 0, 60, 90, 0]\nStep 6: [\"<|19-20|>\", \"<|local-2-2|>\", 13, 0, 60, 90, 0]\nStep 7: [\"<|19-20|>\", \"<|local-2-2|>\", 13, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|teal|><|triangular prism|>": ["<|17-12|><|local-3-2|>", 8]}] | [{"<|maroon|><|cube|>": ["<|8-9|><|local-1-3|>", 23]}] | LOCATE OBJECTS:
Target Object: <|teal|><|triangular prism|> found at <|17-12|><|local-3-2|> with height 8
Target Placement Location: <|maroon|><|cube|> at <|8-9|><|local-1-3|> 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: <|8-9|><|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.
| [{"teal-triangular prism": [71, 50, 8]}, {"maroon-cube": [33, 39, 23]}, {"magenta-cylinder": [22, 7, 16]}, {"blue-moon": [82, 40, 10]}, {"cyan-triangular prism": [14, 61, 16]}, {"black-moon": [66, 57, 9]}, {"gray-cube": [6, 67, 12]}] | Stack the teal triangular prism on top of the maroon cube | [
[
71,
50,
18,
0,
60,
90,
1
],
[
71,
50,
0,
0,
60,
90,
1
],
[
71,
50,
0,
0,
60,
90,
0
],
[
71,
50,
18,
0,
60,
90,
0
],
[
33,
39,
18,
0,
60,
90,
0
],
[
33,
39,
24,
0,
60,
90,
0
],
[
33,
39,
24,
0,
60,
90,
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 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|teal|><|triangular prism|>\": 8, \"<|maroon|><|cube|>\": 23, \"<|magenta|><|cylinder|>\": 16, \"<|blue|><|moon|>\": 10, \"<|cyan|><|triangular prism|>\": 16, \"<|black|><|moon|>\": 9, \"<|gray|><|cube|>\": 12}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the teal triangular prism on top of the maroon cube\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|local-2-3|><|gray|><|cube|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|local-2-1|><|cyan|><|triangular prism|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|local-2-3|><|magenta|><|cylinder|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|local-1-3|><|maroon|><|cube|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|local-2-1|><|black|><|moon|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|local-3-2|><|teal|><|triangular prism|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|local-2-0|><|blue|><|moon|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|teal|><|triangular prism|> found at <|17-12|><|local-3-2|> with height 8\nTarget Placement Location: <|maroon|><|cube|> at <|8-9|><|local-1-3|> with height 23\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|8-9|><|local-1-3|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|17-12|>\", \"<|local-3-2|>\", 18, 0, 60, 90, 1]\nStep 2: [\"<|17-12|>\", \"<|local-3-2|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|17-12|>\", \"<|local-3-2|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|17-12|>\", \"<|local-3-2|>\", 18, 0, 60, 90, 0]\nStep 5: [\"<|8-9|>\", \"<|local-1-3|>\", 18, 0, 60, 90, 0]\nStep 6: [\"<|8-9|>\", \"<|local-1-3|>\", 24, 0, 60, 90, 0]\nStep 7: [\"<|8-9|>\", \"<|local-1-3|>\", 24, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|rose|><|triangular prism|>": ["<|6-22|><|local-1-2|>", 25]}] | [{"<|violet|><|container|>": ["<|23-4|><|local-2-0|>", 26]}] | LOCATE OBJECTS:
Target Object: <|rose|><|triangular prism|> found at <|6-22|><|local-1-2|> with height 25
Target Placement Location: <|violet|><|container|> at <|23-4|><|local-2-0|> 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: <|23-4|><|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 <|rose|><|triangular prism|> into <|violet|><|container|>.
| [{"lime-cube": [66, 75, 18]}, {"cyan-cylinder": [9, 25, 15]}, {"violet-container": [94, 16, 26]}, {"rose-triangular prism": [25, 90, 25]}, {"navy-container": [56, 80, 28]}] | Pick up the triangular prism and place it into the violet container | [
[
25,
90,
35,
0,
60,
90,
1
],
[
25,
90,
0,
0,
60,
90,
1
],
[
25,
90,
0,
0,
60,
90,
0
],
[
25,
90,
35,
0,
60,
90,
0
],
[
94,
16,
35,
0,
60,
90,
0
],
[
94,
16,
26,
0,
60,
90,
0
],
[
94,
16,
26,
0,
60,
90,
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 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|lime|><|cube|>\": 18, \"<|cyan|><|cylinder|>\": 15, \"<|violet|><|container|>\": 26, \"<|rose|><|triangular prism|>\": 25, \"<|navy|><|container|>\": 28}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the triangular prism and place it into the violet container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|local-1-1|><|cyan|><|cylinder|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|local-1-2|><|rose|><|triangular prism|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|local-0-0|><|navy|><|container|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|local-2-3|><|lime|><|cube|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|local-2-0|><|violet|><|container|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|rose|><|triangular prism|> found at <|6-22|><|local-1-2|> with height 25\nTarget Placement Location: <|violet|><|container|> at <|23-4|><|local-2-0|> with height 26\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|23-4|><|local-2-0|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|rose|><|triangular prism|> into <|violet|><|container|>.\n\n</think>\n\nStep 1: [\"<|6-22|>\", \"<|local-1-2|>\", 35, 0, 60, 90, 1]\nStep 2: [\"<|6-22|>\", \"<|local-1-2|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|6-22|>\", \"<|local-1-2|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|6-22|>\", \"<|local-1-2|>\", 35, 0, 60, 90, 0]\nStep 5: [\"<|23-4|>\", \"<|local-2-0|>\", 35, 0, 60, 90, 0]\nStep 6: [\"<|23-4|>\", \"<|local-2-0|>\", 26, 0, 60, 90, 0]\nStep 7: [\"<|23-4|>\", \"<|local-2-0|>\", 26, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|white|><|star|>": ["<|8-19|><|local-2-0|>", 20]}] | [{"<|black|><|star|>": ["<|6-12|><|local-1-1|>", 19]}] | LOCATE OBJECTS:
Target Object: <|white|><|star|> found at <|8-19|><|local-2-0|> with height 20
Target Placement Location: <|black|><|star|> at <|6-12|><|local-1-1|> 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: <|6-12|><|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.
| [{"magenta-cube": [89, 50, 7]}, {"violet-star": [80, 51, 10]}, {"white-star": [34, 76, 20]}, {"black-star": [25, 49, 19]}, {"violet-triangular prism": [6, 71, 3]}, {"teal-cylinder": [23, 10, 10]}] | Stack the black star and the white star in sequence. | [
[
34,
76,
30,
0,
60,
90,
1
],
[
34,
76,
0,
0,
60,
90,
1
],
[
34,
76,
0,
0,
60,
90,
0
],
[
34,
76,
30,
0,
60,
90,
0
],
[
25,
49,
30,
0,
60,
90,
0
],
[
25,
49,
20,
0,
60,
90,
0
],
[
25,
49,
20,
0,
60,
90,
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 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|magenta|><|cube|>\": 7, \"<|violet|><|star|>\": 10, \"<|white|><|star|>\": 20, \"<|black|><|star|>\": 19, \"<|violet|><|triangular prism|>\": 3, \"<|teal|><|cylinder|>\": 10}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the black star and the white star in sequence.\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|local-2-3|><|violet|><|triangular prism|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|local-3-2|><|teal|><|cylinder|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|local-1-1|><|black|><|star|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|local-2-0|><|white|><|star|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|local-0-3|><|violet|><|star|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|local-1-2|><|magenta|><|cube|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|white|><|star|> found at <|8-19|><|local-2-0|> with height 20\nTarget Placement Location: <|black|><|star|> at <|6-12|><|local-1-1|> with height 19\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|6-12|><|local-1-1|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|8-19|>\", \"<|local-2-0|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|8-19|>\", \"<|local-2-0|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|8-19|>\", \"<|local-2-0|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|8-19|>\", \"<|local-2-0|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|6-12|>\", \"<|local-1-1|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|6-12|>\", \"<|local-1-1|>\", 20, 0, 60, 90, 0]\nStep 7: [\"<|6-12|>\", \"<|local-1-1|>\", 20, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|blue|><|moon|>": ["<|18-12|><|local-3-3|>", 6]}] | [{"<|yellow|><|triangular prism|>": ["<|13-18|><|local-1-0|>", 27]}] | LOCATE OBJECTS:
Target Object: <|blue|><|moon|> found at <|18-12|><|local-3-3|> with height 6
Target Placement Location: <|yellow|><|triangular prism|> at <|13-18|><|local-1-0|> 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: <|13-18|><|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 + 1 to avoid collision.
Step 7: Open gripper to finish the task.
| [{"blue-moon": [75, 51, 6]}, {"black-star": [7, 18, 24]}, {"navy-cylinder": [31, 64, 28]}, {"rose-cube": [90, 44, 19]}, {"yellow-triangular prism": [53, 72, 27]}, {"silver-container": [44, 89, 13]}] | Stack the moon on top of the triangular prism | [
[
75,
51,
16,
0,
60,
90,
1
],
[
75,
51,
0,
0,
60,
90,
1
],
[
75,
51,
0,
0,
60,
90,
0
],
[
75,
51,
16,
0,
60,
90,
0
],
[
53,
72,
16,
0,
60,
90,
0
],
[
53,
72,
28,
0,
60,
90,
0
],
[
53,
72,
28,
0,
60,
90,
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 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|blue|><|moon|>\": 6, \"<|black|><|star|>\": 24, \"<|navy|><|cylinder|>\": 28, \"<|rose|><|cube|>\": 19, \"<|yellow|><|triangular prism|>\": 27, \"<|silver|><|container|>\": 13}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the moon on top of the triangular prism\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|local-3-2|><|black|><|star|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|local-3-0|><|navy|><|cylinder|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|local-0-1|><|silver|><|container|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|local-1-0|><|yellow|><|triangular prism|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|local-3-3|><|blue|><|moon|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|local-2-0|><|rose|><|cube|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|blue|><|moon|> found at <|18-12|><|local-3-3|> with height 6\nTarget Placement Location: <|yellow|><|triangular prism|> at <|13-18|><|local-1-0|> with height 27\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|13-18|><|local-1-0|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|18-12|>\", \"<|local-3-3|>\", 16, 0, 60, 90, 1]\nStep 2: [\"<|18-12|>\", \"<|local-3-3|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|18-12|>\", \"<|local-3-3|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|18-12|>\", \"<|local-3-3|>\", 16, 0, 60, 90, 0]\nStep 5: [\"<|13-18|>\", \"<|local-1-0|>\", 16, 0, 60, 90, 0]\nStep 6: [\"<|13-18|>\", \"<|local-1-0|>\", 28, 0, 60, 90, 0]\nStep 7: [\"<|13-18|>\", \"<|local-1-0|>\", 28, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|azure|><|cylinder|>": ["<|0-16|><|local-1-2|>", 7]}] | [{"<|blue|><|moon|>": ["<|17-13|><|local-1-3|>", 24]}] | LOCATE OBJECTS:
Target Object: <|azure|><|cylinder|> found at <|0-16|><|local-1-2|> with height 7
Target Placement Location: <|blue|><|moon|> at <|17-13|><|local-1-3|> 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: <|17-13|><|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.
| [{"azure-star": [51, 19, 14]}, {"blue-moon": [69, 55, 24]}, {"magenta-triangular prism": [71, 66, 22]}, {"azure-cylinder": [1, 66, 7]}] | Stack the moon and the cylinder in sequence. | [
[
1,
66,
17,
0,
60,
90,
1
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[
1,
66,
0,
0,
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1
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[
1,
66,
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0
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[
1,
66,
17,
0,
60,
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0
],
[
69,
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60,
90,
0
],
[
69,
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25,
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0
],
[
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25,
0,
60,
90,
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 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|azure|><|star|>\": 14, \"<|blue|><|moon|>\": 24, \"<|magenta|><|triangular prism|>\": 22, \"<|azure|><|cylinder|>\": 7}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the moon and the cylinder in sequence.\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|local-1-2|><|azure|><|cylinder|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|local-3-3|><|azure|><|star|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|local-1-3|><|blue|><|moon|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|local-3-2|><|magenta|><|triangular prism|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|azure|><|cylinder|> found at <|0-16|><|local-1-2|> with height 7\nTarget Placement Location: <|blue|><|moon|> at <|17-13|><|local-1-3|> with height 24\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|17-13|><|local-1-3|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|0-16|>\", \"<|local-1-2|>\", 17, 0, 60, 90, 1]\nStep 2: [\"<|0-16|>\", \"<|local-1-2|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|0-16|>\", \"<|local-1-2|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|0-16|>\", \"<|local-1-2|>\", 17, 0, 60, 90, 0]\nStep 5: [\"<|17-13|>\", \"<|local-1-3|>\", 17, 0, 60, 90, 0]\nStep 6: [\"<|17-13|>\", \"<|local-1-3|>\", 25, 0, 60, 90, 0]\nStep 7: [\"<|17-13|>\", \"<|local-1-3|>\", 25, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|red|><|star|>": ["<|10-11|><|local-2-0|>", 11]}] | [{"<|black|><|triangular prism|>": ["<|1-12|><|local-1-1|>", 15]}] | LOCATE OBJECTS:
Target Object: <|red|><|star|> found at <|10-11|><|local-2-0|> with height 11
Target Placement Location: <|black|><|triangular prism|> at <|1-12|><|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: <|1-12|><|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.
| [{"red-star": [42, 44, 11]}, {"purple-cylinder": [89, 98, 30]}, {"black-triangular prism": [5, 49, 15]}, {"lime-moon": [4, 71, 12]}, {"magenta-container": [73, 45, 13]}, {"lime-cube": [31, 28, 18]}] | Stack the star on top of the triangular prism | [
[
42,
44,
21,
0,
60,
90,
1
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[
42,
44,
0,
0,
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90,
1
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[
42,
44,
0,
0,
60,
90,
0
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[
42,
44,
21,
0,
60,
90,
0
],
[
5,
49,
21,
0,
60,
90,
0
],
[
5,
49,
16,
0,
60,
90,
0
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[
5,
49,
16,
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{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|red|><|star|>\": 11, \"<|purple|><|cylinder|>\": 30, \"<|black|><|triangular prism|>\": 15, \"<|lime|><|moon|>\": 12, \"<|magenta|><|container|>\": 13, \"<|lime|><|cube|>\": 18}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the star on top of the triangular prism\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|local-1-1|><|black|><|triangular prism|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|local-0-3|><|lime|><|moon|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|local-3-0|><|lime|><|cube|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|local-2-0|><|red|><|star|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|local-1-1|><|magenta|><|container|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|local-1-2|><|purple|><|cylinder|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|red|><|star|> found at <|10-11|><|local-2-0|> with height 11\nTarget Placement Location: <|black|><|triangular prism|> at <|1-12|><|local-1-1|> with height 15\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|1-12|><|local-1-1|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|10-11|>\", \"<|local-2-0|>\", 21, 0, 60, 90, 1]\nStep 2: [\"<|10-11|>\", \"<|local-2-0|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|10-11|>\", \"<|local-2-0|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|10-11|>\", \"<|local-2-0|>\", 21, 0, 60, 90, 0]\nStep 5: [\"<|1-12|>\", \"<|local-1-1|>\", 21, 0, 60, 90, 0]\nStep 6: [\"<|1-12|>\", \"<|local-1-1|>\", 16, 0, 60, 90, 0]\nStep 7: [\"<|1-12|>\", \"<|local-1-1|>\", 16, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|lime|><|cube|>": ["<|12-24|><|local-0-1|>", 23]}] | [{"<|purple|><|cylinder|>": ["<|23-0|><|local-0-3|>", 18]}] | LOCATE OBJECTS:
Target Object: <|lime|><|cube|> found at <|12-24|><|local-0-1|> with height 23
Target Placement Location: <|purple|><|cylinder|> at <|23-0|><|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: <|23-0|><|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.
| [{"gray-triangular prism": [9, 95, 1]}, {"cyan-star": [43, 46, 16]}, {"purple-cylinder": [92, 3, 18]}, {"cyan-moon": [2, 27, 18]}, {"gray-star": [12, 63, 14]}, {"lime-cube": [48, 97, 23]}, {"cyan-triangular prism": [89, 19, 21]}] | Stack the lime cube on top of the purple cylinder | [
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{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|gray|><|triangular prism|>\": 1, \"<|cyan|><|star|>\": 16, \"<|purple|><|cylinder|>\": 18, \"<|cyan|><|moon|>\": 18, \"<|gray|><|star|>\": 14, \"<|lime|><|cube|>\": 23, \"<|cyan|><|triangular prism|>\": 21}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the lime cube on top of the purple cylinder\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|local-2-3|><|cyan|><|moon|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|local-1-3|><|gray|><|triangular prism|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|local-0-3|><|gray|><|star|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|local-3-2|><|cyan|><|star|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|local-0-1|><|lime|><|cube|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|local-1-3|><|cyan|><|triangular prism|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|local-0-3|><|purple|><|cylinder|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|lime|><|cube|> found at <|12-24|><|local-0-1|> with height 23\nTarget Placement Location: <|purple|><|cylinder|> at <|23-0|><|local-0-3|> with height 18\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|23-0|><|local-0-3|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|12-24|>\", \"<|local-0-1|>\", 33, 0, 60, 90, 1]\nStep 2: [\"<|12-24|>\", \"<|local-0-1|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|12-24|>\", \"<|local-0-1|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|12-24|>\", \"<|local-0-1|>\", 33, 0, 60, 90, 0]\nStep 5: [\"<|23-0|>\", \"<|local-0-3|>\", 33, 0, 60, 90, 0]\nStep 6: [\"<|23-0|>\", \"<|local-0-3|>\", 19, 0, 60, 90, 0]\nStep 7: [\"<|23-0|>\", \"<|local-0-3|>\", 19, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|cyan|><|cylinder|>": ["<|1-21|><|local-0-3|>", 30]}] | [{"<|azure|><|container|>": ["<|24-16|><|local-2-2|>", 12]}] | LOCATE OBJECTS:
Target Object: <|cyan|><|cylinder|> found at <|1-21|><|local-0-3|> with height 30
Target Placement Location: <|azure|><|container|> at <|24-16|><|local-2-2|> 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: <|24-16|><|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 <|cyan|><|cylinder|> into <|azure|><|container|>.
| [{"black-container": [79, 5, 23]}, {"azure-container": [98, 66, 12]}, {"cyan-star": [72, 45, 3]}, {"cyan-cylinder": [4, 87, 30]}] | Pick up the cylinder and place it into the azure container | [
[
4,
87,
40,
0,
60,
90,
1
],
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{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|black|><|container|>\": 23, \"<|azure|><|container|>\": 12, \"<|cyan|><|star|>\": 3, \"<|cyan|><|cylinder|>\": 30}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the cylinder and place it into the azure container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|local-0-3|><|cyan|><|cylinder|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|local-0-1|><|cyan|><|star|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|local-3-1|><|black|><|container|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|local-2-2|><|azure|><|container|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|cyan|><|cylinder|> found at <|1-21|><|local-0-3|> with height 30\nTarget Placement Location: <|azure|><|container|> at <|24-16|><|local-2-2|> with height 12\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|24-16|><|local-2-2|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|cyan|><|cylinder|> into <|azure|><|container|>.\n\n</think>\n\nStep 1: [\"<|1-21|>\", \"<|local-0-3|>\", 40, 0, 60, 90, 1]\nStep 2: [\"<|1-21|>\", \"<|local-0-3|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|1-21|>\", \"<|local-0-3|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|1-21|>\", \"<|local-0-3|>\", 40, 0, 60, 90, 0]\nStep 5: [\"<|24-16|>\", \"<|local-2-2|>\", 40, 0, 60, 90, 0]\nStep 6: [\"<|24-16|>\", \"<|local-2-2|>\", 12, 0, 60, 90, 0]\nStep 7: [\"<|24-16|>\", \"<|local-2-2|>\", 12, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|azure|><|star|>": ["<|16-12|><|local-2-0|>", 12]}] | [{"<|olive|><|cube|>": ["<|9-10|><|local-0-3|>", 30]}] | LOCATE OBJECTS:
Target Object: <|azure|><|star|> found at <|16-12|><|local-2-0|> with height 12
Target Placement Location: <|olive|><|cube|> at <|9-10|><|local-0-3|> 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: <|9-10|><|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.
| [{"gray-cylinder": [41, 34, 1]}, {"azure-triangular prism": [57, 85, 19]}, {"green-moon": [71, 64, 21]}, {"olive-cube": [36, 43, 30]}, {"azure-star": [66, 48, 12]}] | Stack the star on top of the cube | [
[
66,
48,
22,
0,
60,
90,
1
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{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|gray|><|cylinder|>\": 1, \"<|azure|><|triangular prism|>\": 19, \"<|green|><|moon|>\": 21, \"<|olive|><|cube|>\": 30, \"<|azure|><|star|>\": 12}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the star on top of the cube\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|local-0-3|><|olive|><|cube|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|local-1-2|><|gray|><|cylinder|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|local-1-1|><|azure|><|triangular prism|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|local-2-0|><|azure|><|star|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|local-3-0|><|green|><|moon|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|azure|><|star|> found at <|16-12|><|local-2-0|> with height 12\nTarget Placement Location: <|olive|><|cube|> at <|9-10|><|local-0-3|> with height 30\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|9-10|><|local-0-3|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|16-12|>\", \"<|local-2-0|>\", 22, 0, 60, 90, 1]\nStep 2: [\"<|16-12|>\", \"<|local-2-0|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|16-12|>\", \"<|local-2-0|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|16-12|>\", \"<|local-2-0|>\", 22, 0, 60, 90, 0]\nStep 5: [\"<|9-10|>\", \"<|local-0-3|>\", 22, 0, 60, 90, 0]\nStep 6: [\"<|9-10|>\", \"<|local-0-3|>\", 31, 0, 60, 90, 0]\nStep 7: [\"<|9-10|>\", \"<|local-0-3|>\", 31, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|black|><|star|>": ["<|3-16|><|local-0-1|>", 1]}] | [{"<|cyan|><|container|>": ["<|24-3|><|local-1-3|>", 19]}] | LOCATE OBJECTS:
Target Object: <|black|><|star|> found at <|3-16|><|local-0-1|> with height 1
Target Placement Location: <|cyan|><|container|> at <|24-3|><|local-1-3|> 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: <|24-3|><|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 <|black|><|star|> into <|cyan|><|container|>.
| [{"rose-container": [36, 28, 25]}, {"cyan-container": [97, 15, 19]}, {"yellow-moon": [4, 30, 8]}, {"black-star": [12, 65, 1]}, {"azure-container": [71, 78, 23]}] | Pick up the star and place it into the cyan container | [
[
12,
65,
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{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|rose|><|container|>\": 25, \"<|cyan|><|container|>\": 19, \"<|yellow|><|moon|>\": 8, \"<|black|><|star|>\": 1, \"<|azure|><|container|>\": 23}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the star and place it into the cyan container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|local-0-2|><|yellow|><|moon|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|local-0-1|><|black|><|star|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|local-0-0|><|rose|><|container|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|local-3-2|><|azure|><|container|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|local-1-3|><|cyan|><|container|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|black|><|star|> found at <|3-16|><|local-0-1|> with height 1\nTarget Placement Location: <|cyan|><|container|> at <|24-3|><|local-1-3|> with height 19\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|24-3|><|local-1-3|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|black|><|star|> into <|cyan|><|container|>.\n\n</think>\n\nStep 1: [\"<|3-16|>\", \"<|local-0-1|>\", 12, 0, 60, 90, 1]\nStep 2: [\"<|3-16|>\", \"<|local-0-1|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|3-16|>\", \"<|local-0-1|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|3-16|>\", \"<|local-0-1|>\", 15, 0, 60, 90, 0]\nStep 5: [\"<|24-3|>\", \"<|local-1-3|>\", 15, 0, 60, 90, 0]\nStep 6: [\"<|24-3|>\", \"<|local-1-3|>\", 19, 0, 60, 90, 0]\nStep 7: [\"<|24-3|>\", \"<|local-1-3|>\", 19, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|green|><|cube|>": ["<|1-1|><|local-0-2|>", 7]}] | [{"<|olive|><|container|>": ["<|1-6|><|local-0-0|>", 2]}] | LOCATE OBJECTS:
Target Object: <|green|><|cube|> found at <|1-1|><|local-0-2|> with height 7
Target Placement Location: <|olive|><|container|> at <|1-6|><|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: <|1-6|><|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 <|green|><|cube|> into <|olive|><|container|>.
| [{"purple-star": [46, 57, 20]}, {"silver-cylinder": [55, 70, 19]}, {"green-cube": [4, 6, 7]}, {"violet-container": [49, 0, 3]}, {"olive-container": [4, 24, 2]}, {"maroon-moon": [75, 61, 1]}] | Pick up the green cube and place it into the olive container | [
[
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60,
90,
1
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4,
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[
4,
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{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|purple|><|star|>\": 20, \"<|silver|><|cylinder|>\": 19, \"<|green|><|cube|>\": 7, \"<|violet|><|container|>\": 3, \"<|olive|><|container|>\": 2, \"<|maroon|><|moon|>\": 1}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the green cube and place it into the olive container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|local-0-2|><|green|><|cube|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|local-0-0|><|olive|><|container|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|local-2-1|><|purple|><|star|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|local-1-0|><|violet|><|container|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|local-3-2|><|silver|><|cylinder|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|local-3-1|><|maroon|><|moon|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|green|><|cube|> found at <|1-1|><|local-0-2|> with height 7\nTarget Placement Location: <|olive|><|container|> at <|1-6|><|local-0-0|> with height 2\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|1-6|><|local-0-0|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|green|><|cube|> into <|olive|><|container|>.\n\n</think>\n\nStep 1: [\"<|1-1|>\", \"<|local-0-2|>\", 17, 0, 60, 90, 1]\nStep 2: [\"<|1-1|>\", \"<|local-0-2|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|1-1|>\", \"<|local-0-2|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|1-1|>\", \"<|local-0-2|>\", 17, 0, 60, 90, 0]\nStep 5: [\"<|1-6|>\", \"<|local-0-0|>\", 17, 0, 60, 90, 0]\nStep 6: [\"<|1-6|>\", \"<|local-0-0|>\", 2, 0, 60, 90, 0]\nStep 7: [\"<|1-6|>\", \"<|local-0-0|>\", 2, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|azure|><|cube|>": ["<|9-11|><|local-1-1|>", 24]}] | [{"<|olive|><|container|>": ["<|22-5|><|local-2-3|>", 12]}] | LOCATE OBJECTS:
Target Object: <|azure|><|cube|> found at <|9-11|><|local-1-1|> with height 24
Target Placement Location: <|olive|><|container|> at <|22-5|><|local-2-3|> 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: <|22-5|><|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 cause the container is empty.
Step 7: Open gripper to drop the <|azure|><|cube|> into <|olive|><|container|>.
| [{"azure-cube": [37, 45, 24]}, {"olive-container": [90, 23, 12]}, {"navy-container": [17, 96, 23]}, {"green-container": [55, 54, 29]}] | Pick up the cube and place it into the olive container | [
[
37,
45,
34,
0,
60,
90,
1
],
[
37,
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0,
0,
60,
90,
1
],
[
37,
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0,
0,
60,
90,
0
],
[
37,
45,
34,
0,
60,
90,
0
],
[
90,
23,
34,
0,
60,
90,
0
],
[
90,
23,
12,
0,
60,
90,
0
],
[
90,
23,
12,
0,
60,
90,
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 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|azure|><|cube|>\": 24, \"<|olive|><|container|>\": 12, \"<|navy|><|container|>\": 23, \"<|green|><|container|>\": 29}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the cube and place it into the olive container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|local-1-0|><|navy|><|container|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|local-1-1|><|azure|><|cube|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|local-3-2|><|green|><|container|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|local-2-3|><|olive|><|container|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|azure|><|cube|> found at <|9-11|><|local-1-1|> with height 24\nTarget Placement Location: <|olive|><|container|> at <|22-5|><|local-2-3|> with height 12\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|22-5|><|local-2-3|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|azure|><|cube|> into <|olive|><|container|>.\n\n</think>\n\nStep 1: [\"<|9-11|>\", \"<|local-1-1|>\", 34, 0, 60, 90, 1]\nStep 2: [\"<|9-11|>\", \"<|local-1-1|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|9-11|>\", \"<|local-1-1|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|9-11|>\", \"<|local-1-1|>\", 34, 0, 60, 90, 0]\nStep 5: [\"<|22-5|>\", \"<|local-2-3|>\", 34, 0, 60, 90, 0]\nStep 6: [\"<|22-5|>\", \"<|local-2-3|>\", 12, 0, 60, 90, 0]\nStep 7: [\"<|22-5|>\", \"<|local-2-3|>\", 12, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|blue|><|star|>": ["<|15-18|><|local-0-3|>", 21]}] | [{"<|magenta|><|star|>": ["<|7-14|><|local-0-3|>", 18]}] | LOCATE OBJECTS:
Target Object: <|blue|><|star|> found at <|15-18|><|local-0-3|> with height 21
Target Placement Location: <|magenta|><|star|> at <|7-14|><|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: <|7-14|><|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 + 1 to avoid collision.
Step 7: Open gripper to finish the task.
| [{"red-moon": [50, 70, 21]}, {"gray-triangular prism": [7, 31, 12]}, {"rose-triangular prism": [44, 78, 12]}, {"blue-star": [60, 75, 21]}, {"magenta-star": [28, 59, 18]}] | Stack the blue star on top of the magenta star | [
[
60,
75,
31,
0,
60,
90,
1
],
[
60,
75,
0,
0,
60,
90,
1
],
[
60,
75,
0,
0,
60,
90,
0
],
[
60,
75,
31,
0,
60,
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],
[
28,
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31,
0,
60,
90,
0
],
[
28,
59,
19,
0,
60,
90,
0
],
[
28,
59,
19,
0,
60,
90,
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 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|red|><|moon|>\": 21, \"<|gray|><|triangular prism|>\": 12, \"<|rose|><|triangular prism|>\": 12, \"<|blue|><|star|>\": 21, \"<|magenta|><|star|>\": 18}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the blue star on top of the magenta star\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|local-3-3|><|gray|><|triangular prism|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|local-0-3|><|magenta|><|star|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|local-0-2|><|rose|><|triangular prism|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|local-2-2|><|red|><|moon|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|local-0-3|><|blue|><|star|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|blue|><|star|> found at <|15-18|><|local-0-3|> with height 21\nTarget Placement Location: <|magenta|><|star|> at <|7-14|><|local-0-3|> with height 18\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|7-14|><|local-0-3|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|15-18|>\", \"<|local-0-3|>\", 31, 0, 60, 90, 1]\nStep 2: [\"<|15-18|>\", \"<|local-0-3|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|15-18|>\", \"<|local-0-3|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|15-18|>\", \"<|local-0-3|>\", 31, 0, 60, 90, 0]\nStep 5: [\"<|7-14|>\", \"<|local-0-3|>\", 31, 0, 60, 90, 0]\nStep 6: [\"<|7-14|>\", \"<|local-0-3|>\", 19, 0, 60, 90, 0]\nStep 7: [\"<|7-14|>\", \"<|local-0-3|>\", 19, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|red|><|triangular prism|>": ["<|2-5|><|local-1-2|>", 21]}] | [{"<|maroon|><|star|>": ["<|0-8|><|local-3-0|>", 10]}] | LOCATE OBJECTS:
Target Object: <|red|><|triangular prism|> found at <|2-5|><|local-1-2|> with height 21
Target Placement Location: <|maroon|><|star|> at <|0-8|><|local-3-0|> 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: <|0-8|><|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.
| [{"red-triangular prism": [9, 22, 21]}, {"maroon-moon": [29, 76, 8]}, {"maroon-star": [3, 32, 10]}, {"azure-cylinder": [84, 0, 5]}, {"cyan-cube": [5, 43, 21]}] | Stack the triangular prism on top of the star | [
[
9,
22,
31,
0,
60,
90,
1
],
[
9,
22,
0,
0,
60,
90,
1
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[
9,
22,
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0,
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[
9,
22,
31,
0,
60,
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0
],
[
3,
32,
31,
0,
60,
90,
0
],
[
3,
32,
11,
0,
60,
90,
0
],
[
3,
32,
11,
0,
60,
90,
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 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|red|><|triangular prism|>\": 21, \"<|maroon|><|moon|>\": 8, \"<|maroon|><|star|>\": 10, \"<|azure|><|cylinder|>\": 5, \"<|cyan|><|cube|>\": 21}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the triangular prism on top of the star\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|local-3-0|><|maroon|><|star|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|local-1-3|><|cyan|><|cube|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|local-1-2|><|red|><|triangular prism|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|local-1-0|><|maroon|><|moon|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|local-0-0|><|azure|><|cylinder|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|red|><|triangular prism|> found at <|2-5|><|local-1-2|> with height 21\nTarget Placement Location: <|maroon|><|star|> at <|0-8|><|local-3-0|> with height 10\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|0-8|><|local-3-0|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|2-5|>\", \"<|local-1-2|>\", 31, 0, 60, 90, 1]\nStep 2: [\"<|2-5|>\", \"<|local-1-2|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|2-5|>\", \"<|local-1-2|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|2-5|>\", \"<|local-1-2|>\", 31, 0, 60, 90, 0]\nStep 5: [\"<|0-8|>\", \"<|local-3-0|>\", 31, 0, 60, 90, 0]\nStep 6: [\"<|0-8|>\", \"<|local-3-0|>\", 11, 0, 60, 90, 0]\nStep 7: [\"<|0-8|>\", \"<|local-3-0|>\", 11, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|green|><|triangular prism|>": ["<|2-14|><|local-2-1|>", 28]}] | [{"<|violet|><|cylinder|>": ["<|4-4|><|local-1-3|>", 1]}] | LOCATE OBJECTS:
Target Object: <|green|><|triangular prism|> found at <|2-14|><|local-2-1|> with height 28
Target Placement Location: <|violet|><|cylinder|> at <|4-4|><|local-1-3|> 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: <|4-4|><|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.
| [{"green-triangular prism": [10, 57, 28]}, {"gray-star": [77, 72, 27]}, {"magenta-cube": [33, 32, 27]}, {"silver-star": [13, 76, 7]}, {"violet-cylinder": [17, 19, 1]}, {"maroon-cube": [43, 8, 24]}, {"purple-cylinder": [19, 8, 3]}] | Stack the green triangular prism on top of the violet cylinder | [
[
10,
57,
38,
0,
60,
90,
1
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[
10,
57,
0,
0,
60,
90,
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[
10,
57,
0,
0,
60,
90,
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[
10,
57,
38,
0,
60,
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[
17,
19,
38,
0,
60,
90,
0
],
[
17,
19,
2,
0,
60,
90,
0
],
[
17,
19,
2,
0,
60,
90,
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 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|green|><|triangular prism|>\": 28, \"<|gray|><|star|>\": 27, \"<|magenta|><|cube|>\": 27, \"<|silver|><|star|>\": 7, \"<|violet|><|cylinder|>\": 1, \"<|maroon|><|cube|>\": 24, \"<|purple|><|cylinder|>\": 3}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the green triangular prism on top of the violet cylinder\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|local-2-1|><|green|><|triangular prism|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|local-1-0|><|silver|><|star|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|local-3-0|><|purple|><|cylinder|><|4-3|><|empty|><|4-4|><|local-1-3|><|violet|><|cylinder|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|local-1-0|><|magenta|><|cube|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|local-3-0|><|maroon|><|cube|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|local-1-0|><|gray|><|star|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|green|><|triangular prism|> found at <|2-14|><|local-2-1|> with height 28\nTarget Placement Location: <|violet|><|cylinder|> at <|4-4|><|local-1-3|> with height 1\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|4-4|><|local-1-3|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|2-14|>\", \"<|local-2-1|>\", 38, 0, 60, 90, 1]\nStep 2: [\"<|2-14|>\", \"<|local-2-1|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|2-14|>\", \"<|local-2-1|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|2-14|>\", \"<|local-2-1|>\", 38, 0, 60, 90, 0]\nStep 5: [\"<|4-4|>\", \"<|local-1-3|>\", 38, 0, 60, 90, 0]\nStep 6: [\"<|4-4|>\", \"<|local-1-3|>\", 2, 0, 60, 90, 0]\nStep 7: [\"<|4-4|>\", \"<|local-1-3|>\", 2, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|maroon|><|cube|>": ["<|20-18|><|local-2-3|>", 30]}] | [{"<|cyan|><|moon|>": ["<|15-1|><|local-2-3|>", 13]}] | LOCATE OBJECTS:
Target Object: <|maroon|><|cube|> found at <|20-18|><|local-2-3|> with height 30
Target Placement Location: [62, 7] with height 13. Map [62, 7] (100x100) to a 25x25 grid, then a 4x4 subgrid. Result: <|15-1|><|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: <|15-1|><|local-2-3|> at the same height as stage 4.
Step 6: Move on top of target location at target_pos: <|15-1|><|local-2-3|> with height target_height.
Step 7: Open gripper to finish the task.
| [{"violet-cube": [23, 56, 22]}, {"cyan-moon": [62, 7, 13]}, {"white-moon": [47, 6, 29]}, {"blue-cylinder": [40, 58, 14]}, {"maroon-cube": [82, 75, 30]}, {"rose-cylinder": [74, 86, 22]}] | Move the maroon cube to [62, 7, 13] | [
[
82,
75,
40,
0,
60,
90,
1
],
[
82,
75,
0,
0,
60,
90,
1
],
[
82,
75,
0,
0,
60,
90,
0
],
[
82,
75,
40,
0,
60,
90,
0
],
[
62,
7,
40,
0,
60,
90,
0
],
[
62,
7,
13,
0,
60,
90,
0
],
[
62,
7,
13,
0,
60,
90,
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 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|violet|><|cube|>\": 22, \"<|cyan|><|moon|>\": 13, \"<|white|><|moon|>\": 29, \"<|blue|><|cylinder|>\": 14, \"<|maroon|><|cube|>\": 30, \"<|rose|><|cylinder|>\": 22}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Move the maroon cube to [62, 7, 13]\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|local-3-0|><|violet|><|cube|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|local-0-2|><|blue|><|cylinder|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|local-3-2|><|white|><|moon|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|local-2-3|><|cyan|><|moon|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|local-2-2|><|rose|><|cylinder|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|local-2-3|><|maroon|><|cube|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|maroon|><|cube|> found at <|20-18|><|local-2-3|> with height 30\nTarget Placement Location: [62, 7] with height 13. Map [62, 7] (100x100) to a 25x25 grid, then a 4x4 subgrid. Result: <|15-1|><|local-2-3|>.\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|15-1|><|local-2-3|> at the same height as stage 4.\nStep 6: Move on top of target location at target_pos: <|15-1|><|local-2-3|> with height target_height.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|20-18|>\", \"<|local-2-3|>\", 40, 0, 60, 90, 1]\nStep 2: [\"<|20-18|>\", \"<|local-2-3|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|20-18|>\", \"<|local-2-3|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|20-18|>\", \"<|local-2-3|>\", 40, 0, 60, 90, 0]\nStep 5: [\"<|15-1|>\", \"<|local-2-3|>\", 40, 0, 60, 90, 0]\nStep 6: [\"<|15-1|>\", \"<|local-2-3|>\", 13, 0, 60, 90, 0]\nStep 7: [\"<|15-1|>\", \"<|local-2-3|>\", 13, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|black|><|cube|>": ["<|10-1|><|local-2-0|>", 16]}] | [{"<|purple|><|triangular prism|>": ["<|11-22|><|local-3-1|>", 25]}] | LOCATE OBJECTS:
Target Object: <|black|><|cube|> found at <|10-1|><|local-2-0|> with height 16
Target Placement Location: <|purple|><|triangular prism|> at <|11-22|><|local-3-1|> 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: <|11-22|><|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.
| [{"purple-triangular prism": [47, 89, 25]}, {"black-cube": [42, 4, 16]}, {"gray-triangular prism": [71, 7, 30]}, {"navy-cylinder": [8, 4, 22]}, {"magenta-cylinder": [24, 44, 22]}, {"rose-star": [46, 59, 21]}, {"gray-cube": [39, 25, 20]}] | Stack the black cube on top of the purple triangular prism | [
[
42,
4,
26,
0,
60,
90,
1
],
[
42,
4,
0,
0,
60,
90,
1
],
[
42,
4,
0,
0,
60,
90,
0
],
[
42,
4,
26,
0,
60,
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{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|purple|><|triangular prism|>\": 25, \"<|black|><|cube|>\": 16, \"<|gray|><|triangular prism|>\": 30, \"<|navy|><|cylinder|>\": 22, \"<|magenta|><|cylinder|>\": 22, \"<|rose|><|star|>\": 21, \"<|gray|><|cube|>\": 20}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the black cube on top of the purple triangular prism\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|local-0-0|><|navy|><|cylinder|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|local-0-0|><|magenta|><|cylinder|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|local-3-1|><|gray|><|cube|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|local-2-0|><|black|><|cube|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|local-2-3|><|rose|><|star|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|local-3-1|><|purple|><|triangular prism|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|local-3-3|><|gray|><|triangular prism|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|black|><|cube|> found at <|10-1|><|local-2-0|> with height 16\nTarget Placement Location: <|purple|><|triangular prism|> at <|11-22|><|local-3-1|> with height 25\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|11-22|><|local-3-1|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|10-1|>\", \"<|local-2-0|>\", 26, 0, 60, 90, 1]\nStep 2: [\"<|10-1|>\", \"<|local-2-0|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|10-1|>\", \"<|local-2-0|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|10-1|>\", \"<|local-2-0|>\", 26, 0, 60, 90, 0]\nStep 5: [\"<|11-22|>\", \"<|local-3-1|>\", 26, 0, 60, 90, 0]\nStep 6: [\"<|11-22|>\", \"<|local-3-1|>\", 26, 0, 60, 90, 0]\nStep 7: [\"<|11-22|>\", \"<|local-3-1|>\", 26, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|purple|><|star|>": ["<|20-14|><|local-2-1|>", 12]}] | [{"<|blue|><|container|>": ["<|5-23|><|local-1-0|>", 17]}] | LOCATE OBJECTS:
Target Object: <|purple|><|star|> found at <|20-14|><|local-2-1|> with height 12
Target Placement Location: <|blue|><|container|> at <|5-23|><|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: <|5-23|><|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|><|star|> into <|blue|><|container|>.
| [{"cyan-cube": [50, 23, 2]}, {"magenta-cylinder": [59, 66, 18]}, {"blue-container": [21, 92, 17]}, {"azure-container": [7, 38, 20]}, {"purple-star": [82, 57, 12]}, {"violet-triangular prism": [75, 72, 6]}] | Pick up the purple star and place it into the blue container | [
[
82,
57,
22,
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{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|cyan|><|cube|>\": 2, \"<|magenta|><|cylinder|>\": 18, \"<|blue|><|container|>\": 17, \"<|azure|><|container|>\": 20, \"<|purple|><|star|>\": 12, \"<|violet|><|triangular prism|>\": 6}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the purple star and place it into the blue container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|local-3-2|><|azure|><|container|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|local-1-0|><|blue|><|container|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|local-2-3|><|cyan|><|cube|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|local-3-2|><|magenta|><|cylinder|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|local-3-0|><|violet|><|triangular prism|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|local-2-1|><|purple|><|star|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|purple|><|star|> found at <|20-14|><|local-2-1|> with height 12\nTarget Placement Location: <|blue|><|container|> at <|5-23|><|local-1-0|> with height 17\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|5-23|><|local-1-0|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|purple|><|star|> into <|blue|><|container|>.\n\n</think>\n\nStep 1: [\"<|20-14|>\", \"<|local-2-1|>\", 22, 0, 60, 90, 1]\nStep 2: [\"<|20-14|>\", \"<|local-2-1|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|20-14|>\", \"<|local-2-1|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|20-14|>\", \"<|local-2-1|>\", 22, 0, 60, 90, 0]\nStep 5: [\"<|5-23|>\", \"<|local-1-0|>\", 22, 0, 60, 90, 0]\nStep 6: [\"<|5-23|>\", \"<|local-1-0|>\", 17, 0, 60, 90, 0]\nStep 7: [\"<|5-23|>\", \"<|local-1-0|>\", 17, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|maroon|><|cube|>": ["<|8-16|><|local-1-1|>", 25]}] | [{"<|white|><|cube|>": ["<|9-22|><|local-2-0|>", 7]}] | LOCATE OBJECTS:
Target Object: <|maroon|><|cube|> found at <|8-16|><|local-1-1|> with height 25
Target Placement Location: <|white|><|cube|> at <|9-22|><|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: <|9-22|><|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.
| [{"blue-cube": [58, 20, 21]}, {"maroon-cube": [33, 65, 25]}, {"white-cube": [38, 88, 7]}, {"black-star": [85, 39, 12]}, {"rose-cylinder": [65, 28, 4]}] | Stack the white cube and the maroon cube in sequence. | [
[
33,
65,
35,
0,
60,
90,
1
],
[
33,
65,
0,
0,
60,
90,
1
],
[
33,
65,
0,
0,
60,
90,
0
],
[
33,
65,
35,
0,
60,
90,
0
],
[
38,
88,
35,
0,
60,
90,
0
],
[
38,
88,
8,
0,
60,
90,
0
],
[
38,
88,
8,
0,
60,
90,
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 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|blue|><|cube|>\": 21, \"<|maroon|><|cube|>\": 25, \"<|white|><|cube|>\": 7, \"<|black|><|star|>\": 12, \"<|rose|><|cylinder|>\": 4}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the white cube and the maroon cube in sequence.\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|local-1-1|><|maroon|><|cube|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|local-2-0|><|white|><|cube|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|local-2-0|><|blue|><|cube|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|local-1-0|><|rose|><|cylinder|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|local-1-3|><|black|><|star|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|maroon|><|cube|> found at <|8-16|><|local-1-1|> with height 25\nTarget Placement Location: <|white|><|cube|> at <|9-22|><|local-2-0|> with height 7\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|9-22|><|local-2-0|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|8-16|>\", \"<|local-1-1|>\", 35, 0, 60, 90, 1]\nStep 2: [\"<|8-16|>\", \"<|local-1-1|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|8-16|>\", \"<|local-1-1|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|8-16|>\", \"<|local-1-1|>\", 35, 0, 60, 90, 0]\nStep 5: [\"<|9-22|>\", \"<|local-2-0|>\", 35, 0, 60, 90, 0]\nStep 6: [\"<|9-22|>\", \"<|local-2-0|>\", 8, 0, 60, 90, 0]\nStep 7: [\"<|9-22|>\", \"<|local-2-0|>\", 8, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|olive|><|cylinder|>": ["<|17-6|><|local-2-2|>", 29]}] | [{"<|gray|><|cylinder|>": ["<|19-19|><|local-0-1|>", 23]}] | LOCATE OBJECTS:
Target Object: <|olive|><|cylinder|> found at <|17-6|><|local-2-2|> with height 29
Target Placement Location: <|gray|><|cylinder|> at <|19-19|><|local-0-1|> 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: <|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 + 1 to avoid collision.
Step 7: Open gripper to finish the task.
| [{"navy-triangular prism": [60, 56, 26]}, {"blue-cylinder": [5, 89, 25]}, {"white-cylinder": [16, 75, 16]}, {"gray-cylinder": [76, 77, 23]}, {"olive-cylinder": [70, 26, 29]}] | Stack the gray cylinder and the olive cylinder in sequence. | [
[
70,
26,
39,
0,
60,
90,
1
],
[
70,
26,
0,
0,
60,
90,
1
],
[
70,
26,
0,
0,
60,
90,
0
],
[
70,
26,
39,
0,
60,
90,
0
],
[
76,
77,
39,
0,
60,
90,
0
],
[
76,
77,
24,
0,
60,
90,
0
],
[
76,
77,
24,
0,
60,
90,
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 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|navy|><|triangular prism|>\": 26, \"<|blue|><|cylinder|>\": 25, \"<|white|><|cylinder|>\": 16, \"<|gray|><|cylinder|>\": 23, \"<|olive|><|cylinder|>\": 29}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the gray cylinder and the olive cylinder in sequence.\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|local-1-1|><|blue|><|cylinder|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|local-0-3|><|white|><|cylinder|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|local-0-0|><|navy|><|triangular prism|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|local-2-2|><|olive|><|cylinder|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|local-0-1|><|gray|><|cylinder|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|olive|><|cylinder|> found at <|17-6|><|local-2-2|> with height 29\nTarget Placement Location: <|gray|><|cylinder|> at <|19-19|><|local-0-1|> with height 23\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|19-19|><|local-0-1|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|17-6|>\", \"<|local-2-2|>\", 39, 0, 60, 90, 1]\nStep 2: [\"<|17-6|>\", \"<|local-2-2|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|17-6|>\", \"<|local-2-2|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|17-6|>\", \"<|local-2-2|>\", 39, 0, 60, 90, 0]\nStep 5: [\"<|19-19|>\", \"<|local-0-1|>\", 39, 0, 60, 90, 0]\nStep 6: [\"<|19-19|>\", \"<|local-0-1|>\", 24, 0, 60, 90, 0]\nStep 7: [\"<|19-19|>\", \"<|local-0-1|>\", 24, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|green|><|star|>": ["<|19-19|><|local-1-1|>", 15]}] | [{"<|white|><|cube|>": ["<|10-5|><|local-3-2|>", 30]}] | LOCATE OBJECTS:
Target Object: <|green|><|star|> found at <|19-19|><|local-1-1|> with height 15
Target Placement Location: <|white|><|cube|> at <|10-5|><|local-3-2|> 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: <|10-5|><|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 + 1 to avoid collision.
Step 7: Open gripper to finish the task.
| [{"yellow-star": [91, 19, 28]}, {"rose-moon": [57, 71, 13]}, {"white-moon": [5, 74, 24]}, {"white-cube": [43, 22, 30]}, {"red-cube": [60, 37, 23]}, {"green-star": [77, 77, 15]}, {"red-moon": [74, 32, 20]}] | Stack the white cube and the green star in sequence. | [
[
77,
77,
25,
0,
60,
90,
1
],
[
77,
77,
0,
0,
60,
90,
1
],
[
77,
77,
0,
0,
60,
90,
0
],
[
77,
77,
25,
0,
60,
90,
0
],
[
43,
22,
25,
0,
60,
90,
0
],
[
43,
22,
31,
0,
60,
90,
0
],
[
43,
22,
31,
0,
60,
90,
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 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|yellow|><|star|>\": 28, \"<|rose|><|moon|>\": 13, \"<|white|><|moon|>\": 24, \"<|white|><|cube|>\": 30, \"<|red|><|cube|>\": 23, \"<|green|><|star|>\": 15, \"<|red|><|moon|>\": 20}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the white cube and the green star in sequence.\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|local-1-2|><|white|><|moon|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|local-3-2|><|white|><|cube|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|local-1-3|><|rose|><|moon|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|local-0-1|><|red|><|cube|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|local-2-0|><|red|><|moon|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|local-1-1|><|green|><|star|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|local-3-3|><|yellow|><|star|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|green|><|star|> found at <|19-19|><|local-1-1|> with height 15\nTarget Placement Location: <|white|><|cube|> at <|10-5|><|local-3-2|> with height 30\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|10-5|><|local-3-2|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|19-19|>\", \"<|local-1-1|>\", 25, 0, 60, 90, 1]\nStep 2: [\"<|19-19|>\", \"<|local-1-1|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|19-19|>\", \"<|local-1-1|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|19-19|>\", \"<|local-1-1|>\", 25, 0, 60, 90, 0]\nStep 5: [\"<|10-5|>\", \"<|local-3-2|>\", 25, 0, 60, 90, 0]\nStep 6: [\"<|10-5|>\", \"<|local-3-2|>\", 31, 0, 60, 90, 0]\nStep 7: [\"<|10-5|>\", \"<|local-3-2|>\", 31, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|red|><|triangular prism|>": ["<|0-3|><|local-0-3|>", 14]}] | [{"<|maroon|><|container|>": ["<|6-6|><|local-1-3|>", 5]}] | LOCATE OBJECTS:
Target Object: <|red|><|triangular prism|> found at <|0-3|><|local-0-3|> with height 14
Target Placement Location: <|maroon|><|container|> at <|6-6|><|local-1-3|> 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: <|6-6|><|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 <|red|><|triangular prism|> into <|maroon|><|container|>.
| [{"black-container": [81, 33, 18]}, {"red-triangular prism": [0, 15, 14]}, {"maroon-container": [25, 27, 5]}, {"azure-star": [31, 49, 4]}, {"teal-container": [14, 37, 11]}] | Pick up the triangular prism and place it into the maroon container | [
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[
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0,
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[
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[
25,
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5,
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] | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|black|><|container|>\": 18, \"<|red|><|triangular prism|>\": 14, \"<|maroon|><|container|>\": 5, \"<|azure|><|star|>\": 4, \"<|teal|><|container|>\": 11}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the triangular prism and place it into the maroon container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|local-0-3|><|red|><|triangular prism|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|local-2-1|><|teal|><|container|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|local-1-3|><|maroon|><|container|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|local-3-1|><|azure|><|star|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|local-1-1|><|black|><|container|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|red|><|triangular prism|> found at <|0-3|><|local-0-3|> with height 14\nTarget Placement Location: <|maroon|><|container|> at <|6-6|><|local-1-3|> with height 5\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|6-6|><|local-1-3|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|red|><|triangular prism|> into <|maroon|><|container|>.\n\n</think>\n\nStep 1: [\"<|0-3|>\", \"<|local-0-3|>\", 24, 0, 60, 90, 1]\nStep 2: [\"<|0-3|>\", \"<|local-0-3|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|0-3|>\", \"<|local-0-3|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|0-3|>\", \"<|local-0-3|>\", 24, 0, 60, 90, 0]\nStep 5: [\"<|6-6|>\", \"<|local-1-3|>\", 24, 0, 60, 90, 0]\nStep 6: [\"<|6-6|>\", \"<|local-1-3|>\", 5, 0, 60, 90, 0]\nStep 7: [\"<|6-6|>\", \"<|local-1-3|>\", 5, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|silver|><|cylinder|>": ["<|4-17|><|local-3-0|>", 6]}] | [{"<|gray|><|moon|>": ["<|13-15|><|local-1-1|>", 19]}] | LOCATE OBJECTS:
Target Object: <|silver|><|cylinder|> found at <|4-17|><|local-3-0|> with height 6
Target Placement Location: [53, 61] with height 19. Map [53, 61] (100x100) to a 25x25 grid, then a 4x4 subgrid. Result: <|13-15|><|local-1-1|>.
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: <|13-15|><|local-1-1|> at the same height as stage 4.
Step 6: Move on top of target location at target_pos: <|13-15|><|local-1-1|> with height target_height.
Step 7: Open gripper to finish the task.
| [{"gray-moon": [53, 61, 19]}, {"silver-cylinder": [19, 68, 6]}, {"silver-moon": [9, 56, 29]}, {"black-cube": [25, 7, 12]}, {"maroon-cube": [86, 40, 29]}] | Move the silver cylinder to [53, 61, 19] | [
[
19,
68,
16,
0,
60,
90,
1
],
[
19,
68,
0,
0,
60,
90,
1
],
[
19,
68,
0,
0,
60,
90,
0
],
[
19,
68,
16,
0,
60,
90,
0
],
[
53,
61,
16,
0,
60,
90,
0
],
[
53,
61,
19,
0,
60,
90,
0
],
[
53,
61,
19,
0,
60,
90,
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 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|gray|><|moon|>\": 19, \"<|silver|><|cylinder|>\": 6, \"<|silver|><|moon|>\": 29, \"<|black|><|cube|>\": 12, \"<|maroon|><|cube|>\": 29}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Move the silver cylinder to [53, 61, 19]\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|local-1-0|><|silver|><|moon|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|local-3-0|><|silver|><|cylinder|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|local-1-3|><|black|><|cube|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|local-1-1|><|gray|><|moon|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|local-2-0|><|maroon|><|cube|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|silver|><|cylinder|> found at <|4-17|><|local-3-0|> with height 6\nTarget Placement Location: [53, 61] with height 19. Map [53, 61] (100x100) to a 25x25 grid, then a 4x4 subgrid. Result: <|13-15|><|local-1-1|>.\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|13-15|><|local-1-1|> at the same height as stage 4.\nStep 6: Move on top of target location at target_pos: <|13-15|><|local-1-1|> with height target_height.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|4-17|>\", \"<|local-3-0|>\", 16, 0, 60, 90, 1]\nStep 2: [\"<|4-17|>\", \"<|local-3-0|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|4-17|>\", \"<|local-3-0|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|4-17|>\", \"<|local-3-0|>\", 16, 0, 60, 90, 0]\nStep 5: [\"<|13-15|>\", \"<|local-1-1|>\", 16, 0, 60, 90, 0]\nStep 6: [\"<|13-15|>\", \"<|local-1-1|>\", 19, 0, 60, 90, 0]\nStep 7: [\"<|13-15|>\", \"<|local-1-1|>\", 19, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|navy|><|moon|>": ["<|16-21|><|local-1-0|>", 17]}] | [{"<|black|><|star|>": ["<|18-23|><|local-0-1|>", 25]}] | LOCATE OBJECTS:
Target Object: <|navy|><|moon|> found at <|16-21|><|local-1-0|> with height 17
Target Placement Location: <|black|><|star|> at <|18-23|><|local-0-1|> 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: <|18-23|><|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.
| [{"black-star": [72, 93, 25]}, {"olive-moon": [37, 77, 21]}, {"yellow-moon": [58, 67, 23]}, {"navy-moon": [65, 84, 17]}, {"lime-star": [18, 40, 22]}, {"cyan-moon": [19, 57, 1]}] | Stack the black star and the navy moon in sequence. | [
[
65,
84,
27,
0,
60,
90,
1
],
[
65,
84,
0,
0,
60,
90,
1
],
[
65,
84,
0,
0,
60,
90,
0
],
[
65,
84,
27,
0,
60,
90,
0
],
[
72,
93,
27,
0,
60,
90,
0
],
[
72,
93,
26,
0,
60,
90,
0
],
[
72,
93,
26,
0,
60,
90,
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 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|black|><|star|>\": 25, \"<|olive|><|moon|>\": 21, \"<|yellow|><|moon|>\": 23, \"<|navy|><|moon|>\": 17, \"<|lime|><|star|>\": 22, \"<|cyan|><|moon|>\": 1}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the black star and the navy moon in sequence.\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|local-2-0|><|lime|><|star|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|local-3-1|><|cyan|><|moon|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|local-1-1|><|olive|><|moon|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|local-2-3|><|yellow|><|moon|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|local-1-0|><|navy|><|moon|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|local-0-1|><|black|><|star|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|navy|><|moon|> found at <|16-21|><|local-1-0|> with height 17\nTarget Placement Location: <|black|><|star|> at <|18-23|><|local-0-1|> with height 25\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|18-23|><|local-0-1|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|16-21|>\", \"<|local-1-0|>\", 27, 0, 60, 90, 1]\nStep 2: [\"<|16-21|>\", \"<|local-1-0|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|16-21|>\", \"<|local-1-0|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|16-21|>\", \"<|local-1-0|>\", 27, 0, 60, 90, 0]\nStep 5: [\"<|18-23|>\", \"<|local-0-1|>\", 27, 0, 60, 90, 0]\nStep 6: [\"<|18-23|>\", \"<|local-0-1|>\", 26, 0, 60, 90, 0]\nStep 7: [\"<|18-23|>\", \"<|local-0-1|>\", 26, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|magenta|><|moon|>": ["<|7-10|><|local-0-1|>", 29]}] | [{"<|lime|><|container|>": ["<|17-9|><|local-2-0|>", 11]}] | LOCATE OBJECTS:
Target Object: <|magenta|><|moon|> found at <|7-10|><|local-0-1|> with height 29
Target Placement Location: <|lime|><|container|> at <|17-9|><|local-2-0|> 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: <|17-9|><|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|><|moon|> into <|lime|><|container|>.
| [{"white-star": [55, 1, 8]}, {"lime-container": [70, 36, 11]}, {"magenta-moon": [28, 41, 29]}, {"teal-moon": [65, 35, 21]}, {"rose-container": [88, 5, 7]}, {"silver-container": [24, 24, 7]}, {"olive-moon": [92, 0, 4]}] | Pick up the magenta moon and place it into the lime container | [
[
28,
41,
39,
0,
60,
90,
1
],
[
28,
41,
0,
0,
60,
90,
1
],
[
28,
41,
0,
0,
60,
90,
0
],
[
28,
41,
39,
0,
60,
90,
0
],
[
70,
36,
39,
0,
60,
90,
0
],
[
70,
36,
11,
0,
60,
90,
0
],
[
70,
36,
11,
0,
60,
90,
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 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|white|><|star|>\": 8, \"<|lime|><|container|>\": 11, \"<|magenta|><|moon|>\": 29, \"<|teal|><|moon|>\": 21, \"<|rose|><|container|>\": 7, \"<|silver|><|container|>\": 7, \"<|olive|><|moon|>\": 4}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the magenta moon and place it into the lime container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|local-0-0|><|silver|><|container|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|local-0-1|><|magenta|><|moon|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|local-3-1|><|white|><|star|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|local-1-3|><|teal|><|moon|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|local-2-0|><|lime|><|container|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|local-0-1|><|rose|><|container|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|local-0-0|><|olive|><|moon|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|magenta|><|moon|> found at <|7-10|><|local-0-1|> with height 29\nTarget Placement Location: <|lime|><|container|> at <|17-9|><|local-2-0|> with height 11\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|17-9|><|local-2-0|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|magenta|><|moon|> into <|lime|><|container|>.\n\n</think>\n\nStep 1: [\"<|7-10|>\", \"<|local-0-1|>\", 39, 0, 60, 90, 1]\nStep 2: [\"<|7-10|>\", \"<|local-0-1|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|7-10|>\", \"<|local-0-1|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|7-10|>\", \"<|local-0-1|>\", 39, 0, 60, 90, 0]\nStep 5: [\"<|17-9|>\", \"<|local-2-0|>\", 39, 0, 60, 90, 0]\nStep 6: [\"<|17-9|>\", \"<|local-2-0|>\", 11, 0, 60, 90, 0]\nStep 7: [\"<|17-9|>\", \"<|local-2-0|>\", 11, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|violet|><|cube|>": ["<|4-9|><|local-3-2|>", 6]}] | [{"<|gray|><|container|>": ["<|2-20|><|local-0-0|>", 24]}] | LOCATE OBJECTS:
Target Object: <|violet|><|cube|> found at <|4-9|><|local-3-2|> with height 6
Target Placement Location: <|gray|><|container|> at <|2-20|><|local-0-0|> 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: <|2-20|><|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 <|violet|><|cube|> into <|gray|><|container|>.
| [{"lime-moon": [78, 46, 28]}, {"purple-star": [65, 64, 2]}, {"purple-moon": [78, 84, 17]}, {"violet-cube": [19, 38, 6]}, {"gray-container": [8, 80, 24]}, {"teal-moon": [1, 19, 14]}, {"white-container": [98, 51, 23]}] | Pick up the violet cube and place it into the gray container | [
[
19,
38,
16,
0,
60,
90,
1
],
[
19,
38,
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{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|lime|><|moon|>\": 28, \"<|purple|><|star|>\": 2, \"<|purple|><|moon|>\": 17, \"<|violet|><|cube|>\": 6, \"<|gray|><|container|>\": 24, \"<|teal|><|moon|>\": 14, \"<|white|><|container|>\": 23}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the violet cube and place it into the gray container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|local-1-3|><|teal|><|moon|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|local-0-0|><|gray|><|container|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|local-3-2|><|violet|><|cube|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|local-1-0|><|purple|><|star|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|local-2-2|><|lime|><|moon|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|local-2-0|><|purple|><|moon|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|local-2-3|><|white|><|container|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|violet|><|cube|> found at <|4-9|><|local-3-2|> with height 6\nTarget Placement Location: <|gray|><|container|> at <|2-20|><|local-0-0|> with height 24\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|2-20|><|local-0-0|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|violet|><|cube|> into <|gray|><|container|>.\n\n</think>\n\nStep 1: [\"<|4-9|>\", \"<|local-3-2|>\", 16, 0, 60, 90, 1]\nStep 2: [\"<|4-9|>\", \"<|local-3-2|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|4-9|>\", \"<|local-3-2|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|4-9|>\", \"<|local-3-2|>\", 16, 0, 60, 90, 0]\nStep 5: [\"<|2-20|>\", \"<|local-0-0|>\", 16, 0, 60, 90, 0]\nStep 6: [\"<|2-20|>\", \"<|local-0-0|>\", 24, 0, 60, 90, 0]\nStep 7: [\"<|2-20|>\", \"<|local-0-0|>\", 24, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|rose|><|moon|>": ["<|4-23|><|local-0-2|>", 21]}] | [{"<|navy|><|moon|>": ["<|11-8|><|local-2-3|>", 20]}] | LOCATE OBJECTS:
Target Object: <|rose|><|moon|> found at <|4-23|><|local-0-2|> with height 21
Target Placement Location: <|navy|><|moon|> at <|11-8|><|local-2-3|> with height 20
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-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.
| [{"rose-moon": [16, 94, 21]}, {"blue-cube": [50, 84, 16]}, {"navy-cube": [24, 26, 15]}, {"purple-moon": [2, 69, 27]}, {"navy-moon": [46, 35, 20]}, {"teal-cube": [20, 13, 25]}] | Stack the rose moon on top of the navy moon | [
[
16,
94,
31,
0,
60,
90,
1
],
[
16,
94,
0,
0,
60,
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[
16,
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0,
0,
60,
90,
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[
16,
94,
31,
0,
60,
90,
0
],
[
46,
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31,
0,
60,
90,
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],
[
46,
35,
21,
0,
60,
90,
0
],
[
46,
35,
21,
0,
60,
90,
1
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] | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|rose|><|moon|>\": 21, \"<|blue|><|cube|>\": 16, \"<|navy|><|cube|>\": 15, \"<|purple|><|moon|>\": 27, \"<|navy|><|moon|>\": 20, \"<|teal|><|cube|>\": 25}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the rose moon on top of the navy moon\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|local-2-1|><|purple|><|moon|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|local-0-2|><|rose|><|moon|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|local-0-1|><|teal|><|cube|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|local-0-2|><|navy|><|cube|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|local-2-3|><|navy|><|moon|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|local-2-0|><|blue|><|cube|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|rose|><|moon|> found at <|4-23|><|local-0-2|> with height 21\nTarget Placement Location: <|navy|><|moon|> at <|11-8|><|local-2-3|> with height 20\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|11-8|><|local-2-3|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|4-23|>\", \"<|local-0-2|>\", 31, 0, 60, 90, 1]\nStep 2: [\"<|4-23|>\", \"<|local-0-2|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|4-23|>\", \"<|local-0-2|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|4-23|>\", \"<|local-0-2|>\", 31, 0, 60, 90, 0]\nStep 5: [\"<|11-8|>\", \"<|local-2-3|>\", 31, 0, 60, 90, 0]\nStep 6: [\"<|11-8|>\", \"<|local-2-3|>\", 21, 0, 60, 90, 0]\nStep 7: [\"<|11-8|>\", \"<|local-2-3|>\", 21, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|magenta|><|cylinder|>": ["<|6-7|><|local-3-2|>", 10]}] | [{"<|olive|><|cube|>": ["<|9-2|><|local-1-2|>", 8]}] | LOCATE OBJECTS:
Target Object: <|magenta|><|cylinder|> found at <|6-7|><|local-3-2|> with height 10
Target Placement Location: <|olive|><|cube|> at <|9-2|><|local-1-2|> 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: <|9-2|><|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.
| [{"black-cube": [94, 62, 11]}, {"olive-cube": [37, 10, 8]}, {"black-triangular prism": [33, 35, 30]}, {"magenta-cube": [70, 47, 24]}, {"violet-star": [90, 44, 26]}, {"maroon-triangular prism": [69, 83, 21]}, {"magenta-cylinder": [27, 30, 10]}] | Stack the magenta cylinder on top of the olive cube | [
[
27,
30,
20,
0,
60,
90,
1
],
[
27,
30,
0,
0,
60,
90,
1
],
[
27,
30,
0,
0,
60,
90,
0
],
[
27,
30,
20,
0,
60,
90,
0
],
[
37,
10,
20,
0,
60,
90,
0
],
[
37,
10,
9,
0,
60,
90,
0
],
[
37,
10,
9,
0,
60,
90,
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 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|black|><|cube|>\": 11, \"<|olive|><|cube|>\": 8, \"<|black|><|triangular prism|>\": 30, \"<|magenta|><|cube|>\": 24, \"<|violet|><|star|>\": 26, \"<|maroon|><|triangular prism|>\": 21, \"<|magenta|><|cylinder|>\": 10}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the magenta cylinder on top of the olive cube\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|local-3-2|><|magenta|><|cylinder|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|local-1-3|><|black|><|triangular prism|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|local-1-2|><|olive|><|cube|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|local-2-3|><|magenta|><|cube|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|local-1-3|><|maroon|><|triangular prism|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|local-2-0|><|violet|><|star|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|local-2-2|><|black|><|cube|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|magenta|><|cylinder|> found at <|6-7|><|local-3-2|> with height 10\nTarget Placement Location: <|olive|><|cube|> at <|9-2|><|local-1-2|> with height 8\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|9-2|><|local-1-2|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|6-7|>\", \"<|local-3-2|>\", 20, 0, 60, 90, 1]\nStep 2: [\"<|6-7|>\", \"<|local-3-2|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|6-7|>\", \"<|local-3-2|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|6-7|>\", \"<|local-3-2|>\", 20, 0, 60, 90, 0]\nStep 5: [\"<|9-2|>\", \"<|local-1-2|>\", 20, 0, 60, 90, 0]\nStep 6: [\"<|9-2|>\", \"<|local-1-2|>\", 9, 0, 60, 90, 0]\nStep 7: [\"<|9-2|>\", \"<|local-1-2|>\", 9, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|azure|><|triangular prism|>": ["<|11-2|><|local-3-2|>", 4]}] | [{"<|azure|><|container|>": ["<|21-15|><|local-0-0|>", 16]}] | LOCATE OBJECTS:
Target Object: <|azure|><|triangular prism|> found at <|11-2|><|local-3-2|> with height 4
Target Placement Location: <|azure|><|container|> at <|21-15|><|local-0-0|> 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: <|21-15|><|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 <|azure|><|triangular prism|> into <|azure|><|container|>.
| [{"teal-triangular prism": [64, 47, 24]}, {"olive-container": [56, 1, 26]}, {"azure-container": [84, 60, 16]}, {"white-moon": [34, 9, 26]}, {"azure-triangular prism": [47, 10, 4]}] | Pick up the azure triangular prism and place it into the azure container | [
[
47,
10,
15,
0,
60,
90,
1
],
[
47,
10,
0,
0,
60,
90,
1
],
[
47,
10,
0,
0,
60,
90,
0
],
[
47,
10,
14,
0,
60,
90,
0
],
[
84,
60,
14,
0,
60,
90,
0
],
[
84,
60,
16,
0,
60,
90,
0
],
[
84,
60,
16,
0,
60,
90,
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 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|teal|><|triangular prism|>\": 24, \"<|olive|><|container|>\": 26, \"<|azure|><|container|>\": 16, \"<|white|><|moon|>\": 26, \"<|azure|><|triangular prism|>\": 4}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the azure triangular prism and place it into the azure container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|local-2-1|><|white|><|moon|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|local-3-2|><|azure|><|triangular prism|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|local-0-1|><|olive|><|container|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|local-0-3|><|teal|><|triangular prism|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|local-0-0|><|azure|><|container|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|azure|><|triangular prism|> found at <|11-2|><|local-3-2|> with height 4\nTarget Placement Location: <|azure|><|container|> at <|21-15|><|local-0-0|> with height 16\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|21-15|><|local-0-0|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|azure|><|triangular prism|> into <|azure|><|container|>.\n\n</think>\n\nStep 1: [\"<|11-2|>\", \"<|local-3-2|>\", 15, 0, 60, 90, 1]\nStep 2: [\"<|11-2|>\", \"<|local-3-2|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|11-2|>\", \"<|local-3-2|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|11-2|>\", \"<|local-3-2|>\", 14, 0, 60, 90, 0]\nStep 5: [\"<|21-15|>\", \"<|local-0-0|>\", 14, 0, 60, 90, 0]\nStep 6: [\"<|21-15|>\", \"<|local-0-0|>\", 16, 0, 60, 90, 0]\nStep 7: [\"<|21-15|>\", \"<|local-0-0|>\", 16, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|silver|><|cylinder|>": ["<|24-7|><|local-1-2|>", 6]}] | [{"<|rose|><|container|>": ["<|15-4|><|local-0-3|>", 10]}] | LOCATE OBJECTS:
Target Object: <|silver|><|cylinder|> found at <|24-7|><|local-1-2|> with height 6
Target Placement Location: <|rose|><|container|> at <|15-4|><|local-0-3|> 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: <|15-4|><|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 <|silver|><|cylinder|> into <|rose|><|container|>.
| [{"azure-triangular prism": [40, 80, 14]}, {"silver-cylinder": [97, 30, 6]}, {"teal-container": [54, 83, 11]}, {"rose-container": [60, 19, 10]}, {"purple-cylinder": [3, 90, 24]}, {"gray-triangular prism": [57, 51, 28]}] | Pick up the silver cylinder and place it into the rose container | [
[
97,
30,
16,
0,
60,
90,
1
],
[
97,
30,
0,
0,
60,
90,
1
],
[
97,
30,
0,
0,
60,
90,
0
],
[
97,
30,
16,
0,
60,
90,
0
],
[
60,
19,
16,
0,
60,
90,
0
],
[
60,
19,
10,
0,
60,
90,
0
],
[
60,
19,
10,
0,
60,
90,
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 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|azure|><|triangular prism|>\": 14, \"<|silver|><|cylinder|>\": 6, \"<|teal|><|container|>\": 11, \"<|rose|><|container|>\": 10, \"<|purple|><|cylinder|>\": 24, \"<|gray|><|triangular prism|>\": 28}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the silver cylinder and place it into the rose container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|local-3-2|><|purple|><|cylinder|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|local-0-0|><|azure|><|triangular prism|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|local-2-3|><|teal|><|container|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|local-1-3|><|gray|><|triangular prism|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|local-0-3|><|rose|><|container|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|local-1-2|><|silver|><|cylinder|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|silver|><|cylinder|> found at <|24-7|><|local-1-2|> with height 6\nTarget Placement Location: <|rose|><|container|> at <|15-4|><|local-0-3|> with height 10\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|15-4|><|local-0-3|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|silver|><|cylinder|> into <|rose|><|container|>.\n\n</think>\n\nStep 1: [\"<|24-7|>\", \"<|local-1-2|>\", 16, 0, 60, 90, 1]\nStep 2: [\"<|24-7|>\", \"<|local-1-2|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|24-7|>\", \"<|local-1-2|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|24-7|>\", \"<|local-1-2|>\", 16, 0, 60, 90, 0]\nStep 5: [\"<|15-4|>\", \"<|local-0-3|>\", 16, 0, 60, 90, 0]\nStep 6: [\"<|15-4|>\", \"<|local-0-3|>\", 10, 0, 60, 90, 0]\nStep 7: [\"<|15-4|>\", \"<|local-0-3|>\", 10, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|teal|><|cylinder|>": ["<|16-10|><|local-2-1|>", 2]}] | [{"<|red|><|cube|>": ["<|19-7|><|local-3-1|>", 16]}] | LOCATE OBJECTS:
Target Object: <|teal|><|cylinder|> found at <|16-10|><|local-2-1|> with height 2
Target Placement Location: <|red|><|cube|> at <|19-7|><|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: <|19-7|><|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.
| [{"teal-cylinder": [66, 41, 2]}, {"yellow-cube": [95, 11, 6]}, {"red-cube": [79, 29, 16]}, {"maroon-cube": [14, 7, 23]}, {"navy-cylinder": [90, 96, 27]}, {"purple-moon": [93, 0, 18]}] | Stack the teal cylinder on top of the red cube | [
[
66,
41,
12,
0,
60,
90,
1
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[
66,
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1
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[
66,
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0
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[
66,
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14,
0,
60,
90,
0
],
[
79,
29,
13,
0,
60,
90,
0
],
[
79,
29,
17,
0,
60,
90,
0
],
[
79,
29,
17,
0,
60,
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1
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] | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|teal|><|cylinder|>\": 2, \"<|yellow|><|cube|>\": 6, \"<|red|><|cube|>\": 16, \"<|maroon|><|cube|>\": 23, \"<|navy|><|cylinder|>\": 27, \"<|purple|><|moon|>\": 18}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the teal cylinder on top of the red cube\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|local-2-3|><|maroon|><|cube|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|local-2-1|><|teal|><|cylinder|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|local-3-1|><|red|><|cube|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|local-2-0|><|navy|><|cylinder|>\n<|23-0|><|local-1-0|><|purple|><|moon|><|23-1|><|empty|><|23-2|><|local-3-3|><|yellow|><|cube|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|teal|><|cylinder|> found at <|16-10|><|local-2-1|> with height 2\nTarget Placement Location: <|red|><|cube|> at <|19-7|><|local-3-1|> with height 16\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|19-7|><|local-3-1|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|16-10|>\", \"<|local-2-1|>\", 12, 0, 60, 90, 1]\nStep 2: [\"<|16-10|>\", \"<|local-2-1|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|16-10|>\", \"<|local-2-1|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|16-10|>\", \"<|local-2-1|>\", 14, 0, 60, 90, 0]\nStep 5: [\"<|19-7|>\", \"<|local-3-1|>\", 13, 0, 60, 90, 0]\nStep 6: [\"<|19-7|>\", \"<|local-3-1|>\", 17, 0, 60, 90, 0]\nStep 7: [\"<|19-7|>\", \"<|local-3-1|>\", 17, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|blue|><|star|>": ["<|9-7|><|local-2-3|>", 12]}] | [{"<|green|><|container|>": ["<|8-2|><|local-0-2|>", 29]}] | LOCATE OBJECTS:
Target Object: <|blue|><|star|> found at <|9-7|><|local-2-3|> with height 12
Target Placement Location: <|green|><|container|> at <|8-2|><|local-0-2|> 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: <|8-2|><|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 <|green|><|container|>.
| [{"blue-container": [15, 74, 25]}, {"teal-triangular prism": [2, 56, 19]}, {"green-container": [32, 10, 29]}, {"yellow-cube": [51, 68, 29]}, {"blue-star": [38, 31, 12]}, {"violet-cylinder": [46, 23, 20]}] | Pick up the star and place it into the green container | [
[
38,
31,
22,
0,
60,
90,
1
],
[
38,
31,
0,
0,
60,
90,
1
],
[
38,
31,
0,
0,
60,
90,
0
],
[
38,
31,
22,
0,
60,
90,
0
],
[
32,
10,
22,
0,
60,
90,
0
],
[
32,
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0,
60,
90,
0
],
[
32,
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29,
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90,
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 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|blue|><|container|>\": 25, \"<|teal|><|triangular prism|>\": 19, \"<|green|><|container|>\": 29, \"<|yellow|><|cube|>\": 29, \"<|blue|><|star|>\": 12, \"<|violet|><|cylinder|>\": 20}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the star and place it into the green container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|local-2-0|><|teal|><|triangular prism|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|local-3-2|><|blue|><|container|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|local-0-2|><|green|><|container|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|local-2-3|><|blue|><|star|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|local-2-3|><|violet|><|cylinder|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|local-3-0|><|yellow|><|cube|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|blue|><|star|> found at <|9-7|><|local-2-3|> with height 12\nTarget Placement Location: <|green|><|container|> at <|8-2|><|local-0-2|> with height 29\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|8-2|><|local-0-2|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|blue|><|star|> into <|green|><|container|>.\n\n</think>\n\nStep 1: [\"<|9-7|>\", \"<|local-2-3|>\", 22, 0, 60, 90, 1]\nStep 2: [\"<|9-7|>\", \"<|local-2-3|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|9-7|>\", \"<|local-2-3|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|9-7|>\", \"<|local-2-3|>\", 22, 0, 60, 90, 0]\nStep 5: [\"<|8-2|>\", \"<|local-0-2|>\", 22, 0, 60, 90, 0]\nStep 6: [\"<|8-2|>\", \"<|local-0-2|>\", 29, 0, 60, 90, 0]\nStep 7: [\"<|8-2|>\", \"<|local-0-2|>\", 29, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|purple|><|star|>": ["<|14-19|><|local-1-0|>", 30]}] | [{"<|silver|><|container|>": ["<|21-1|><|local-0-0|>", 21]}] | LOCATE OBJECTS:
Target Object: <|purple|><|star|> found at <|14-19|><|local-1-0|> with height 30
Target Placement Location: <|silver|><|container|> at <|21-1|><|local-0-0|> 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: <|21-1|><|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 <|purple|><|star|> into <|silver|><|container|>.
| [{"maroon-triangular prism": [52, 11, 13]}, {"silver-container": [84, 4, 21]}, {"purple-star": [57, 76, 30]}, {"yellow-container": [74, 9, 6]}, {"navy-container": [42, 98, 4]}] | Pick up the purple star and place it into the silver container | [
[
57,
76,
40,
0,
60,
90,
1
],
[
57,
76,
0,
0,
60,
90,
1
],
[
57,
76,
0,
0,
60,
90,
0
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{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|maroon|><|triangular prism|>\": 13, \"<|silver|><|container|>\": 21, \"<|purple|><|star|>\": 30, \"<|yellow|><|container|>\": 6, \"<|navy|><|container|>\": 4}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the purple star and place it into the silver container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|local-2-2|><|navy|><|container|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|local-0-3|><|maroon|><|triangular prism|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|local-1-0|><|purple|><|star|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|local-2-1|><|yellow|><|container|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|local-0-0|><|silver|><|container|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|purple|><|star|> found at <|14-19|><|local-1-0|> with height 30\nTarget Placement Location: <|silver|><|container|> at <|21-1|><|local-0-0|> with height 21\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|21-1|><|local-0-0|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|purple|><|star|> into <|silver|><|container|>.\n\n</think>\n\nStep 1: [\"<|14-19|>\", \"<|local-1-0|>\", 40, 0, 60, 90, 1]\nStep 2: [\"<|14-19|>\", \"<|local-1-0|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|14-19|>\", \"<|local-1-0|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|14-19|>\", \"<|local-1-0|>\", 40, 0, 60, 90, 0]\nStep 5: [\"<|21-1|>\", \"<|local-0-0|>\", 40, 0, 60, 90, 0]\nStep 6: [\"<|21-1|>\", \"<|local-0-0|>\", 21, 0, 60, 90, 0]\nStep 7: [\"<|21-1|>\", \"<|local-0-0|>\", 21, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|magenta|><|cylinder|>": ["<|0-5|><|local-2-3|>", 11]}] | [{"<|red|><|container|>": ["<|10-23|><|local-0-0|>", 1]}] | LOCATE OBJECTS:
Target Object: <|magenta|><|cylinder|> found at <|0-5|><|local-2-3|> with height 11
Target Placement Location: <|red|><|container|> at <|10-23|><|local-0-0|> 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: <|10-23|><|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 <|magenta|><|cylinder|> into <|red|><|container|>.
| [{"navy-triangular prism": [10, 2, 19]}, {"yellow-star": [93, 53, 21]}, {"magenta-cylinder": [2, 23, 11]}, {"red-container": [40, 92, 1]}, {"white-cube": [26, 57, 11]}, {"purple-container": [24, 70, 6]}] | Pick up the cylinder and place it into the red container | [
[
2,
23,
21,
0,
60,
90,
1
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{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|navy|><|triangular prism|>\": 19, \"<|yellow|><|star|>\": 21, \"<|magenta|><|cylinder|>\": 11, \"<|red|><|container|>\": 1, \"<|white|><|cube|>\": 11, \"<|purple|><|container|>\": 6}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the cylinder and place it into the red container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|local-2-3|><|magenta|><|cylinder|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|local-2-2|><|navy|><|triangular prism|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|local-2-1|><|white|><|cube|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|local-0-2|><|purple|><|container|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|local-0-0|><|red|><|container|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|local-1-1|><|yellow|><|star|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|magenta|><|cylinder|> found at <|0-5|><|local-2-3|> with height 11\nTarget Placement Location: <|red|><|container|> at <|10-23|><|local-0-0|> with height 1\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|10-23|><|local-0-0|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|magenta|><|cylinder|> into <|red|><|container|>.\n\n</think>\n\nStep 1: [\"<|0-5|>\", \"<|local-2-3|>\", 21, 0, 60, 90, 1]\nStep 2: [\"<|0-5|>\", \"<|local-2-3|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|0-5|>\", \"<|local-2-3|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|0-5|>\", \"<|local-2-3|>\", 21, 0, 60, 90, 0]\nStep 5: [\"<|10-23|>\", \"<|local-0-0|>\", 21, 0, 60, 90, 0]\nStep 6: [\"<|10-23|>\", \"<|local-0-0|>\", 1, 0, 60, 90, 0]\nStep 7: [\"<|10-23|>\", \"<|local-0-0|>\", 1, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|olive|><|star|>": ["<|23-7|><|local-1-1|>", 19]}] | [{"<|violet|><|star|>": ["<|7-15|><|local-3-2|>", 3]}] | LOCATE OBJECTS:
Target Object: <|olive|><|star|> found at <|23-7|><|local-1-1|> with height 19
Target Placement Location: <|violet|><|star|> at <|7-15|><|local-3-2|> 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: <|7-15|><|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 + 1 to avoid collision.
Step 7: Open gripper to finish the task.
| [{"yellow-triangular prism": [20, 83, 1]}, {"navy-cube": [27, 63, 20]}, {"violet-star": [31, 62, 3]}, {"violet-cube": [82, 49, 9]}, {"black-moon": [30, 12, 14]}, {"olive-star": [93, 29, 19]}] | Stack the olive star on top of the violet star | [
[
93,
29,
29,
0,
60,
90,
1
],
[
93,
29,
0,
0,
60,
90,
1
],
[
93,
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0,
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60,
90,
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],
[
93,
29,
29,
0,
60,
90,
0
],
[
31,
62,
29,
0,
60,
90,
0
],
[
31,
62,
4,
0,
60,
90,
0
],
[
31,
62,
4,
0,
60,
90,
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 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|yellow|><|triangular prism|>\": 1, \"<|navy|><|cube|>\": 20, \"<|violet|><|star|>\": 3, \"<|violet|><|cube|>\": 9, \"<|black|><|moon|>\": 14, \"<|olive|><|star|>\": 19}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the olive star on top of the violet star\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|local-0-3|><|yellow|><|triangular prism|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|local-3-3|><|navy|><|cube|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|local-2-0|><|black|><|moon|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|local-3-2|><|violet|><|star|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|local-2-1|><|violet|><|cube|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|local-1-1|><|olive|><|star|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|olive|><|star|> found at <|23-7|><|local-1-1|> with height 19\nTarget Placement Location: <|violet|><|star|> at <|7-15|><|local-3-2|> with height 3\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|7-15|><|local-3-2|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|23-7|>\", \"<|local-1-1|>\", 29, 0, 60, 90, 1]\nStep 2: [\"<|23-7|>\", \"<|local-1-1|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|23-7|>\", \"<|local-1-1|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|23-7|>\", \"<|local-1-1|>\", 29, 0, 60, 90, 0]\nStep 5: [\"<|7-15|>\", \"<|local-3-2|>\", 29, 0, 60, 90, 0]\nStep 6: [\"<|7-15|>\", \"<|local-3-2|>\", 4, 0, 60, 90, 0]\nStep 7: [\"<|7-15|>\", \"<|local-3-2|>\", 4, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|maroon|><|cube|>": ["<|23-7|><|local-2-1|>", 28]}] | [{"<|green|><|cylinder|>": ["<|20-0|><|local-2-1|>", 18]}] | LOCATE OBJECTS:
Target Object: <|maroon|><|cube|> found at <|23-7|><|local-2-1|> with height 28
Target Placement Location: [82, 1] with height 18. Map [82, 1] (100x100) to a 25x25 grid, then a 4x4 subgrid. Result: <|20-0|><|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: <|20-0|><|local-2-1|> at the same height as stage 4.
Step 6: Move on top of target location at target_pos: <|20-0|><|local-2-1|> with height target_height.
Step 7: Open gripper to finish the task.
| [{"gray-triangular prism": [78, 15, 27]}, {"silver-moon": [86, 65, 4]}, {"maroon-cube": [94, 29, 28]}, {"green-cylinder": [82, 1, 18]}, {"red-cube": [82, 14, 16]}, {"silver-cylinder": [96, 85, 6]}] | Move the maroon cube to [82, 1, 18] | [
[
94,
29,
38,
0,
60,
90,
1
],
[
94,
29,
0,
0,
60,
90,
1
],
[
94,
29,
0,
0,
60,
90,
0
],
[
94,
29,
38,
0,
60,
90,
0
],
[
82,
1,
38,
0,
60,
90,
0
],
[
82,
1,
18,
0,
60,
90,
0
],
[
82,
1,
18,
0,
60,
90,
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 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|gray|><|triangular prism|>\": 27, \"<|silver|><|moon|>\": 4, \"<|maroon|><|cube|>\": 28, \"<|green|><|cylinder|>\": 18, \"<|red|><|cube|>\": 16, \"<|silver|><|cylinder|>\": 6}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Move the maroon cube to [82, 1, 18]\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|local-2-3|><|gray|><|triangular prism|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|local-2-1|><|green|><|cylinder|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|local-2-2|><|red|><|cube|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|local-2-1|><|silver|><|moon|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|local-2-1|><|maroon|><|cube|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|local-0-1|><|silver|><|cylinder|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|maroon|><|cube|> found at <|23-7|><|local-2-1|> with height 28\nTarget Placement Location: [82, 1] with height 18. Map [82, 1] (100x100) to a 25x25 grid, then a 4x4 subgrid. Result: <|20-0|><|local-2-1|>.\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|20-0|><|local-2-1|> at the same height as stage 4.\nStep 6: Move on top of target location at target_pos: <|20-0|><|local-2-1|> with height target_height.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|23-7|>\", \"<|local-2-1|>\", 38, 0, 60, 90, 1]\nStep 2: [\"<|23-7|>\", \"<|local-2-1|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|23-7|>\", \"<|local-2-1|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|23-7|>\", \"<|local-2-1|>\", 38, 0, 60, 90, 0]\nStep 5: [\"<|20-0|>\", \"<|local-2-1|>\", 38, 0, 60, 90, 0]\nStep 6: [\"<|20-0|>\", \"<|local-2-1|>\", 18, 0, 60, 90, 0]\nStep 7: [\"<|20-0|>\", \"<|local-2-1|>\", 18, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|silver|><|star|>": ["<|4-0|><|local-0-3|>", 7]}] | [{"<|blue|><|container|>": ["<|0-24|><|local-3-0|>", 1]}] | LOCATE OBJECTS:
Target Object: <|silver|><|star|> found at <|4-0|><|local-0-3|> with height 7
Target Placement Location: <|blue|><|container|> at <|0-24|><|local-3-0|> 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: <|0-24|><|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 <|silver|><|star|> into <|blue|><|container|>.
| [{"green-container": [5, 69, 25]}, {"azure-moon": [68, 36, 28]}, {"blue-container": [3, 96, 1]}, {"silver-star": [16, 3, 7]}] | Pick up the star and place it into the blue container | [
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90,
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[
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[
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] | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|green|><|container|>\": 25, \"<|azure|><|moon|>\": 28, \"<|blue|><|container|>\": 1, \"<|silver|><|star|>\": 7}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the star and place it into the blue container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|local-3-0|><|blue|><|container|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|local-1-1|><|green|><|container|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|local-0-3|><|silver|><|star|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|local-0-0|><|azure|><|moon|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|silver|><|star|> found at <|4-0|><|local-0-3|> with height 7\nTarget Placement Location: <|blue|><|container|> at <|0-24|><|local-3-0|> with height 1\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|0-24|><|local-3-0|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|silver|><|star|> into <|blue|><|container|>.\n\n</think>\n\nStep 1: [\"<|4-0|>\", \"<|local-0-3|>\", 17, 0, 60, 90, 1]\nStep 2: [\"<|4-0|>\", \"<|local-0-3|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|4-0|>\", \"<|local-0-3|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|4-0|>\", \"<|local-0-3|>\", 17, 0, 60, 90, 0]\nStep 5: [\"<|0-24|>\", \"<|local-3-0|>\", 17, 0, 60, 90, 0]\nStep 6: [\"<|0-24|>\", \"<|local-3-0|>\", 1, 0, 60, 90, 0]\nStep 7: [\"<|0-24|>\", \"<|local-3-0|>\", 1, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|navy|><|moon|>": ["<|4-14|><|local-1-3|>", 22]}] | [{"<|teal|><|cube|>": ["<|14-22|><|local-3-1|>", 7]}] | LOCATE OBJECTS:
Target Object: <|navy|><|moon|> found at <|4-14|><|local-1-3|> with height 22
Target Placement Location: <|teal|><|cube|> at <|14-22|><|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: <|14-22|><|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": [13, 83, 10]}, {"teal-cube": [59, 89, 7]}, {"navy-moon": [17, 59, 22]}, {"navy-triangular prism": [61, 80, 22]}, {"olive-cube": [95, 45, 13]}] | Stack the navy moon on top of the teal cube | [
[
17,
59,
32,
0,
60,
90,
1
],
[
17,
59,
0,
0,
60,
90,
1
],
[
17,
59,
0,
0,
60,
90,
0
],
[
17,
59,
32,
0,
60,
90,
0
],
[
59,
89,
32,
0,
60,
90,
0
],
[
59,
89,
8,
0,
60,
90,
0
],
[
59,
89,
8,
0,
60,
90,
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 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|azure|><|cylinder|>\": 10, \"<|teal|><|cube|>\": 7, \"<|navy|><|moon|>\": 22, \"<|navy|><|triangular prism|>\": 22, \"<|olive|><|cube|>\": 13}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the navy moon on top of the teal cube\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|local-1-3|><|azure|><|cylinder|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|local-1-3|><|navy|><|moon|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|local-3-1|><|teal|><|cube|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|local-1-0|><|navy|><|triangular prism|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|local-3-1|><|olive|><|cube|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|navy|><|moon|> found at <|4-14|><|local-1-3|> with height 22\nTarget Placement Location: <|teal|><|cube|> at <|14-22|><|local-3-1|> with height 7\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|14-22|><|local-3-1|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|4-14|>\", \"<|local-1-3|>\", 32, 0, 60, 90, 1]\nStep 2: [\"<|4-14|>\", \"<|local-1-3|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|4-14|>\", \"<|local-1-3|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|4-14|>\", \"<|local-1-3|>\", 32, 0, 60, 90, 0]\nStep 5: [\"<|14-22|>\", \"<|local-3-1|>\", 32, 0, 60, 90, 0]\nStep 6: [\"<|14-22|>\", \"<|local-3-1|>\", 8, 0, 60, 90, 0]\nStep 7: [\"<|14-22|>\", \"<|local-3-1|>\", 8, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|azure|><|cylinder|>": ["<|8-23|><|local-3-3|>", 6]}] | [{"<|silver|><|cylinder|>": ["<|0-9|><|local-3-2|>", 2]}] | LOCATE OBJECTS:
Target Object: <|azure|><|cylinder|> found at <|8-23|><|local-3-3|> with height 6
Target Placement Location: <|silver|><|cylinder|> at <|0-9|><|local-3-2|> 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: <|0-9|><|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 + 1 to avoid collision.
Step 7: Open gripper to finish the task.
| [{"silver-cylinder": [3, 38, 2]}, {"cyan-moon": [49, 40, 13]}, {"cyan-cylinder": [32, 77, 9]}, {"azure-cylinder": [35, 95, 6]}, {"white-cylinder": [27, 21, 16]}] | Stack the silver cylinder and the azure cylinder in sequence. | [
[
35,
95,
16,
0,
60,
90,
1
],
[
35,
95,
0,
0,
60,
90,
1
],
[
35,
95,
0,
0,
60,
90,
0
],
[
35,
95,
16,
0,
60,
90,
0
],
[
3,
38,
16,
0,
60,
90,
0
],
[
3,
38,
3,
0,
60,
90,
0
],
[
3,
38,
3,
0,
60,
90,
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 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|silver|><|cylinder|>\": 2, \"<|cyan|><|moon|>\": 13, \"<|cyan|><|cylinder|>\": 9, \"<|azure|><|cylinder|>\": 6, \"<|white|><|cylinder|>\": 16}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the silver cylinder and the azure cylinder in sequence.\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|local-3-2|><|silver|><|cylinder|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|local-3-1|><|white|><|cylinder|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|local-0-1|><|cyan|><|cylinder|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|local-3-3|><|azure|><|cylinder|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|local-1-0|><|cyan|><|moon|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|azure|><|cylinder|> found at <|8-23|><|local-3-3|> with height 6\nTarget Placement Location: <|silver|><|cylinder|> at <|0-9|><|local-3-2|> with height 2\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|0-9|><|local-3-2|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|8-23|>\", \"<|local-3-3|>\", 16, 0, 60, 90, 1]\nStep 2: [\"<|8-23|>\", \"<|local-3-3|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|8-23|>\", \"<|local-3-3|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|8-23|>\", \"<|local-3-3|>\", 16, 0, 60, 90, 0]\nStep 5: [\"<|0-9|>\", \"<|local-3-2|>\", 16, 0, 60, 90, 0]\nStep 6: [\"<|0-9|>\", \"<|local-3-2|>\", 3, 0, 60, 90, 0]\nStep 7: [\"<|0-9|>\", \"<|local-3-2|>\", 3, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|maroon|><|triangular prism|>": ["<|21-24|><|local-0-2|>", 14]}] | [{"<|teal|><|cube|>": ["<|6-11|><|local-3-1|>", 17]}] | LOCATE OBJECTS:
Target Object: <|maroon|><|triangular prism|> found at <|21-24|><|local-0-2|> with height 14
Target Placement Location: <|teal|><|cube|> at <|6-11|><|local-3-1|> 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: <|6-11|><|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.
| [{"black-cube": [11, 73, 21]}, {"teal-cube": [27, 45, 17]}, {"red-moon": [82, 49, 3]}, {"gray-star": [62, 8, 8]}, {"azure-star": [45, 21, 16]}, {"maroon-triangular prism": [84, 98, 14]}] | Stack the teal cube and the maroon triangular prism in sequence. | [
[
84,
98,
24,
0,
60,
90,
1
],
[
84,
98,
0,
0,
60,
90,
1
],
[
84,
98,
0,
0,
60,
90,
0
],
[
84,
98,
24,
0,
60,
90,
0
],
[
27,
45,
24,
0,
60,
90,
0
],
[
27,
45,
18,
0,
60,
90,
0
],
[
27,
45,
18,
0,
60,
90,
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 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|black|><|cube|>\": 21, \"<|teal|><|cube|>\": 17, \"<|red|><|moon|>\": 3, \"<|gray|><|star|>\": 8, \"<|azure|><|star|>\": 16, \"<|maroon|><|triangular prism|>\": 14}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the teal cube and the maroon triangular prism in sequence.\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|local-3-1|><|black|><|cube|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|local-3-1|><|teal|><|cube|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|local-1-1|><|azure|><|star|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|local-2-0|><|gray|><|star|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|local-2-1|><|red|><|moon|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|local-0-2|><|maroon|><|triangular prism|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|maroon|><|triangular prism|> found at <|21-24|><|local-0-2|> with height 14\nTarget Placement Location: <|teal|><|cube|> at <|6-11|><|local-3-1|> with height 17\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|6-11|><|local-3-1|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|21-24|>\", \"<|local-0-2|>\", 24, 0, 60, 90, 1]\nStep 2: [\"<|21-24|>\", \"<|local-0-2|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|21-24|>\", \"<|local-0-2|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|21-24|>\", \"<|local-0-2|>\", 24, 0, 60, 90, 0]\nStep 5: [\"<|6-11|>\", \"<|local-3-1|>\", 24, 0, 60, 90, 0]\nStep 6: [\"<|6-11|>\", \"<|local-3-1|>\", 18, 0, 60, 90, 0]\nStep 7: [\"<|6-11|>\", \"<|local-3-1|>\", 18, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|red|><|moon|>": ["<|21-23|><|local-0-1|>", 24]}] | [{"<|teal|><|container|>": ["<|7-21|><|local-2-1|>", 18]}] | LOCATE OBJECTS:
Target Object: <|red|><|moon|> found at <|21-23|><|local-0-1|> with height 24
Target Placement Location: <|teal|><|container|> at <|7-21|><|local-2-1|> 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: <|7-21|><|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|><|moon|> into <|teal|><|container|>.
| [{"purple-container": [75, 57, 30]}, {"green-triangular prism": [38, 4, 3]}, {"teal-container": [30, 85, 18]}, {"maroon-cube": [30, 97, 19]}, {"red-moon": [84, 93, 24]}] | Pick up the moon and place it into the teal container | [
[
84,
93,
34,
0,
60,
90,
1
],
[
84,
93,
0,
0,
60,
90,
1
],
[
84,
93,
0,
0,
60,
90,
0
],
[
84,
93,
34,
0,
60,
90,
0
],
[
30,
85,
34,
0,
60,
90,
0
],
[
30,
85,
18,
0,
60,
90,
0
],
[
30,
85,
18,
0,
60,
90,
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 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|purple|><|container|>\": 30, \"<|green|><|triangular prism|>\": 3, \"<|teal|><|container|>\": 18, \"<|maroon|><|cube|>\": 19, \"<|red|><|moon|>\": 24}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the moon and place it into the teal container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|local-2-1|><|teal|><|container|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|local-2-1|><|maroon|><|cube|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|local-2-0|><|green|><|triangular prism|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|local-3-1|><|purple|><|container|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|local-0-1|><|red|><|moon|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|red|><|moon|> found at <|21-23|><|local-0-1|> with height 24\nTarget Placement Location: <|teal|><|container|> at <|7-21|><|local-2-1|> with height 18\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|7-21|><|local-2-1|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|red|><|moon|> into <|teal|><|container|>.\n\n</think>\n\nStep 1: [\"<|21-23|>\", \"<|local-0-1|>\", 34, 0, 60, 90, 1]\nStep 2: [\"<|21-23|>\", \"<|local-0-1|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|21-23|>\", \"<|local-0-1|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|21-23|>\", \"<|local-0-1|>\", 34, 0, 60, 90, 0]\nStep 5: [\"<|7-21|>\", \"<|local-2-1|>\", 34, 0, 60, 90, 0]\nStep 6: [\"<|7-21|>\", \"<|local-2-1|>\", 18, 0, 60, 90, 0]\nStep 7: [\"<|7-21|>\", \"<|local-2-1|>\", 18, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|maroon|><|cube|>": ["<|4-0|><|local-3-1|>", 17]}] | [{"<|black|><|container|>": ["<|20-8|><|local-3-1|>", 12]}] | LOCATE OBJECTS:
Target Object: <|maroon|><|cube|> found at <|4-0|><|local-3-1|> with height 17
Target Placement Location: <|black|><|container|> at <|20-8|><|local-3-1|> 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: <|20-8|><|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 cause the container is empty.
Step 7: Open gripper to drop the <|maroon|><|cube|> into <|black|><|container|>.
| [{"black-container": [83, 33, 12]}, {"violet-container": [45, 69, 26]}, {"green-triangular prism": [58, 51, 6]}, {"maroon-cube": [19, 1, 17]}, {"azure-container": [20, 65, 16]}] | Pick up the maroon cube and place it into the black container | [
[
19,
1,
27,
0,
60,
90,
1
],
[
19,
1,
0,
0,
60,
90,
1
],
[
19,
1,
0,
0,
60,
90,
0
],
[
19,
1,
27,
0,
60,
90,
0
],
[
83,
33,
27,
0,
60,
90,
0
],
[
83,
33,
12,
0,
60,
90,
0
],
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{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|black|><|container|>\": 12, \"<|violet|><|container|>\": 26, \"<|green|><|triangular prism|>\": 6, \"<|maroon|><|cube|>\": 17, \"<|azure|><|container|>\": 16}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the maroon cube and place it into the black container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|local-3-1|><|maroon|><|cube|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|local-0-1|><|azure|><|container|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|local-1-1|><|violet|><|container|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|local-2-3|><|green|><|triangular prism|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|local-3-1|><|black|><|container|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|maroon|><|cube|> found at <|4-0|><|local-3-1|> with height 17\nTarget Placement Location: <|black|><|container|> at <|20-8|><|local-3-1|> with height 12\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|20-8|><|local-3-1|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|maroon|><|cube|> into <|black|><|container|>.\n\n</think>\n\nStep 1: [\"<|4-0|>\", \"<|local-3-1|>\", 27, 0, 60, 90, 1]\nStep 2: [\"<|4-0|>\", \"<|local-3-1|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|4-0|>\", \"<|local-3-1|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|4-0|>\", \"<|local-3-1|>\", 27, 0, 60, 90, 0]\nStep 5: [\"<|20-8|>\", \"<|local-3-1|>\", 27, 0, 60, 90, 0]\nStep 6: [\"<|20-8|>\", \"<|local-3-1|>\", 12, 0, 60, 90, 0]\nStep 7: [\"<|20-8|>\", \"<|local-3-1|>\", 12, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|olive|><|cylinder|>": ["<|20-5|><|local-0-3|>", 10]}] | [{"<|navy|><|moon|>": ["<|5-7|><|local-2-3|>", 11]}] | LOCATE OBJECTS:
Target Object: <|olive|><|cylinder|> found at <|20-5|><|local-0-3|> with height 10
Target Placement Location: <|navy|><|moon|> at <|5-7|><|local-2-3|> 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: <|5-7|><|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-triangular prism": [48, 76, 18]}, {"cyan-triangular prism": [1, 9, 29]}, {"olive-cylinder": [80, 23, 10]}, {"olive-star": [18, 37, 4]}, {"navy-moon": [22, 31, 11]}, {"magenta-triangular prism": [35, 83, 2]}, {"purple-moon": [45, 88, 15]}] | Stack the olive cylinder on top of the navy moon | [
[
80,
23,
20,
0,
60,
90,
1
],
[
80,
23,
0,
0,
60,
90,
1
],
[
80,
23,
0,
0,
60,
90,
0
],
[
80,
23,
20,
0,
60,
90,
0
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[
22,
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{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|black|><|triangular prism|>\": 18, \"<|cyan|><|triangular prism|>\": 29, \"<|olive|><|cylinder|>\": 10, \"<|olive|><|star|>\": 4, \"<|navy|><|moon|>\": 11, \"<|magenta|><|triangular prism|>\": 2, \"<|purple|><|moon|>\": 15}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the olive cylinder on top of the navy moon\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|local-1-1|><|cyan|><|triangular prism|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|local-2-1|><|olive|><|star|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|local-2-3|><|navy|><|moon|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|local-3-3|><|magenta|><|triangular prism|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|local-1-0|><|purple|><|moon|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|local-0-0|><|black|><|triangular prism|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|local-0-3|><|olive|><|cylinder|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|olive|><|cylinder|> found at <|20-5|><|local-0-3|> with height 10\nTarget Placement Location: <|navy|><|moon|> at <|5-7|><|local-2-3|> with height 11\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|5-7|><|local-2-3|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|20-5|>\", \"<|local-0-3|>\", 20, 0, 60, 90, 1]\nStep 2: [\"<|20-5|>\", \"<|local-0-3|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|20-5|>\", \"<|local-0-3|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|20-5|>\", \"<|local-0-3|>\", 20, 0, 60, 90, 0]\nStep 5: [\"<|5-7|>\", \"<|local-2-3|>\", 20, 0, 60, 90, 0]\nStep 6: [\"<|5-7|>\", \"<|local-2-3|>\", 12, 0, 60, 90, 0]\nStep 7: [\"<|5-7|>\", \"<|local-2-3|>\", 12, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|silver|><|star|>": ["<|20-12|><|local-1-3|>", 1]}] | [{"<|maroon|><|cube|>": ["<|3-22|><|local-0-1|>", 8]}] | LOCATE OBJECTS:
Target Object: <|silver|><|star|> found at <|20-12|><|local-1-3|> with height 1
Target Placement Location: <|maroon|><|cube|> at <|3-22|><|local-0-1|> 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: <|3-22|><|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 + 1 to avoid collision.
Step 7: Open gripper to finish the task.
| [{"maroon-cube": [12, 89, 8]}, {"silver-star": [81, 51, 1]}, {"yellow-star": [80, 81, 8]}, {"teal-star": [26, 74, 12]}, {"yellow-moon": [81, 29, 19]}, {"violet-triangular prism": [34, 89, 28]}] | Stack the maroon cube and the silver star in sequence. | [
[
81,
51,
14,
0,
60,
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{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|maroon|><|cube|>\": 8, \"<|silver|><|star|>\": 1, \"<|yellow|><|star|>\": 8, \"<|teal|><|star|>\": 12, \"<|yellow|><|moon|>\": 19, \"<|violet|><|triangular prism|>\": 28}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the maroon cube and the silver star in sequence.\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|local-0-1|><|maroon|><|cube|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|local-2-2|><|teal|><|star|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|local-2-1|><|violet|><|triangular prism|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|local-1-1|><|yellow|><|moon|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|local-1-3|><|silver|><|star|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|local-0-1|><|yellow|><|star|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|silver|><|star|> found at <|20-12|><|local-1-3|> with height 1\nTarget Placement Location: <|maroon|><|cube|> at <|3-22|><|local-0-1|> with height 8\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|3-22|><|local-0-1|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|20-12|>\", \"<|local-1-3|>\", 14, 0, 60, 90, 1]\nStep 2: [\"<|20-12|>\", \"<|local-1-3|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|20-12|>\", \"<|local-1-3|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|20-12|>\", \"<|local-1-3|>\", 12, 0, 60, 90, 0]\nStep 5: [\"<|3-22|>\", \"<|local-0-1|>\", 15, 0, 60, 90, 0]\nStep 6: [\"<|3-22|>\", \"<|local-0-1|>\", 9, 0, 60, 90, 0]\nStep 7: [\"<|3-22|>\", \"<|local-0-1|>\", 9, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|cyan|><|cube|>": ["<|16-16|><|local-2-2|>", 24]}] | [{"<|magenta|><|container|>": ["<|9-11|><|local-0-2|>", 11]}] | LOCATE OBJECTS:
Target Object: <|cyan|><|cube|> found at <|16-16|><|local-2-2|> with height 24
Target Placement Location: <|magenta|><|container|> at <|9-11|><|local-0-2|> 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: <|9-11|><|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 <|cyan|><|cube|> into <|magenta|><|container|>.
| [{"cyan-container": [47, 50, 13]}, {"green-container": [58, 18, 17]}, {"olive-cube": [11, 38, 24]}, {"magenta-container": [36, 46, 11]}, {"gray-star": [29, 13, 3]}, {"cyan-cube": [66, 66, 24]}] | Pick up the cyan cube and place it into the magenta container | [
[
66,
66,
34,
0,
60,
90,
1
],
[
66,
66,
0,
0,
60,
90,
1
],
[
66,
66,
0,
0,
60,
90,
0
],
[
66,
66,
34,
0,
60,
90,
0
],
[
36,
46,
34,
0,
60,
90,
0
],
[
36,
46,
11,
0,
60,
90,
0
],
[
36,
46,
11,
0,
60,
90,
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 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|cyan|><|container|>\": 13, \"<|green|><|container|>\": 17, \"<|olive|><|cube|>\": 24, \"<|magenta|><|container|>\": 11, \"<|gray|><|star|>\": 3, \"<|cyan|><|cube|>\": 24}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the cyan cube and place it into the magenta container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|local-3-2|><|olive|><|cube|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|local-1-1|><|gray|><|star|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|local-0-2|><|magenta|><|container|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|local-3-2|><|cyan|><|container|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|local-2-2|><|green|><|container|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|local-2-2|><|cyan|><|cube|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|cyan|><|cube|> found at <|16-16|><|local-2-2|> with height 24\nTarget Placement Location: <|magenta|><|container|> at <|9-11|><|local-0-2|> with height 11\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|9-11|><|local-0-2|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|cyan|><|cube|> into <|magenta|><|container|>.\n\n</think>\n\nStep 1: [\"<|16-16|>\", \"<|local-2-2|>\", 34, 0, 60, 90, 1]\nStep 2: [\"<|16-16|>\", \"<|local-2-2|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|16-16|>\", \"<|local-2-2|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|16-16|>\", \"<|local-2-2|>\", 34, 0, 60, 90, 0]\nStep 5: [\"<|9-11|>\", \"<|local-0-2|>\", 34, 0, 60, 90, 0]\nStep 6: [\"<|9-11|>\", \"<|local-0-2|>\", 11, 0, 60, 90, 0]\nStep 7: [\"<|9-11|>\", \"<|local-0-2|>\", 11, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|rose|><|cube|>": ["<|20-5|><|local-2-0|>", 17]}] | [{"<|magenta|><|triangular prism|>": ["<|4-16|><|local-0-1|>", 2]}] | LOCATE OBJECTS:
Target Object: <|rose|><|cube|> found at <|20-5|><|local-2-0|> with height 17
Target Placement Location: <|magenta|><|triangular prism|> at <|4-16|><|local-0-1|> 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: <|4-16|><|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.
| [{"green-triangular prism": [0, 77, 15]}, {"rose-cube": [82, 20, 17]}, {"azure-triangular prism": [86, 50, 30]}, {"magenta-cube": [86, 0, 30]}, {"magenta-triangular prism": [16, 65, 2]}] | Stack the magenta triangular prism and the rose cube in sequence. | [
[
82,
20,
27,
0,
60,
90,
1
],
[
82,
20,
0,
0,
60,
90,
1
],
[
82,
20,
0,
0,
60,
90,
0
],
[
82,
20,
27,
0,
60,
90,
0
],
[
16,
65,
27,
0,
60,
90,
0
],
[
16,
65,
3,
0,
60,
90,
0
],
[
16,
65,
3,
0,
60,
90,
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 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|green|><|triangular prism|>\": 15, \"<|rose|><|cube|>\": 17, \"<|azure|><|triangular prism|>\": 30, \"<|magenta|><|cube|>\": 30, \"<|magenta|><|triangular prism|>\": 2}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the magenta triangular prism and the rose cube in sequence.\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|local-0-1|><|green|><|triangular prism|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|local-0-1|><|magenta|><|triangular prism|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|local-2-0|><|rose|><|cube|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|local-2-0|><|magenta|><|cube|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|local-2-2|><|azure|><|triangular prism|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|rose|><|cube|> found at <|20-5|><|local-2-0|> with height 17\nTarget Placement Location: <|magenta|><|triangular prism|> at <|4-16|><|local-0-1|> with height 2\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|4-16|><|local-0-1|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|20-5|>\", \"<|local-2-0|>\", 27, 0, 60, 90, 1]\nStep 2: [\"<|20-5|>\", \"<|local-2-0|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|20-5|>\", \"<|local-2-0|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|20-5|>\", \"<|local-2-0|>\", 27, 0, 60, 90, 0]\nStep 5: [\"<|4-16|>\", \"<|local-0-1|>\", 27, 0, 60, 90, 0]\nStep 6: [\"<|4-16|>\", \"<|local-0-1|>\", 3, 0, 60, 90, 0]\nStep 7: [\"<|4-16|>\", \"<|local-0-1|>\", 3, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|white|><|moon|>": ["<|8-20|><|local-2-2|>", 18]}] | [{"<|maroon|><|container|>": ["<|6-1|><|local-0-0|>", 13]}] | LOCATE OBJECTS:
Target Object: <|white|><|moon|> found at <|8-20|><|local-2-2|> with height 18
Target Placement Location: <|maroon|><|container|> at <|6-1|><|local-0-0|> 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: <|6-1|><|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|><|moon|> into <|maroon|><|container|>.
| [{"magenta-container": [43, 34, 5]}, {"gray-cube": [84, 47, 26]}, {"violet-cylinder": [85, 64, 15]}, {"white-moon": [34, 82, 18]}, {"maroon-container": [24, 4, 13]}] | Pick up the moon and place it into the maroon container | [
[
34,
82,
28,
0,
60,
90,
1
],
[
34,
82,
0,
0,
60,
90,
1
],
[
34,
82,
0,
0,
60,
90,
0
],
[
34,
82,
28,
0,
60,
90,
0
],
[
24,
4,
28,
0,
60,
90,
0
],
[
24,
4,
13,
0,
60,
90,
0
],
[
24,
4,
13,
0,
60,
90,
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 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|magenta|><|container|>\": 5, \"<|gray|><|cube|>\": 26, \"<|violet|><|cylinder|>\": 15, \"<|white|><|moon|>\": 18, \"<|maroon|><|container|>\": 13}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the moon and place it into the maroon container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|local-0-0|><|maroon|><|container|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|local-2-2|><|white|><|moon|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|local-3-2|><|magenta|><|container|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|local-0-3|><|gray|><|cube|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|local-1-0|><|violet|><|cylinder|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|white|><|moon|> found at <|8-20|><|local-2-2|> with height 18\nTarget Placement Location: <|maroon|><|container|> at <|6-1|><|local-0-0|> with height 13\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|6-1|><|local-0-0|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|white|><|moon|> into <|maroon|><|container|>.\n\n</think>\n\nStep 1: [\"<|8-20|>\", \"<|local-2-2|>\", 28, 0, 60, 90, 1]\nStep 2: [\"<|8-20|>\", \"<|local-2-2|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|8-20|>\", \"<|local-2-2|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|8-20|>\", \"<|local-2-2|>\", 28, 0, 60, 90, 0]\nStep 5: [\"<|6-1|>\", \"<|local-0-0|>\", 28, 0, 60, 90, 0]\nStep 6: [\"<|6-1|>\", \"<|local-0-0|>\", 13, 0, 60, 90, 0]\nStep 7: [\"<|6-1|>\", \"<|local-0-0|>\", 13, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|blue|><|triangular prism|>": ["<|24-1|><|local-0-0|>", 20]}] | [{"<|maroon|><|moon|>": ["<|9-1|><|local-3-3|>", 14]}] | LOCATE OBJECTS:
Target Object: <|blue|><|triangular prism|> found at <|24-1|><|local-0-0|> with height 20
Target Placement Location: <|maroon|><|moon|> at <|9-1|><|local-3-3|> 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: <|9-1|><|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.
| [{"yellow-star": [86, 52, 28]}, {"teal-container": [53, 15, 2]}, {"maroon-moon": [39, 7, 14]}, {"lime-cylinder": [68, 5, 14]}, {"blue-triangular prism": [96, 4, 20]}, {"cyan-cube": [47, 64, 21]}] | Stack the moon and the triangular prism in sequence. | [
[
96,
4,
30,
0,
60,
90,
1
],
[
96,
4,
0,
0,
60,
90,
1
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[
96,
4,
0,
0,
60,
90,
0
],
[
96,
4,
30,
0,
60,
90,
0
],
[
39,
7,
30,
0,
60,
90,
0
],
[
39,
7,
15,
0,
60,
90,
0
],
[
39,
7,
15,
0,
60,
90,
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 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|yellow|><|star|>\": 28, \"<|teal|><|container|>\": 2, \"<|maroon|><|moon|>\": 14, \"<|lime|><|cylinder|>\": 14, \"<|blue|><|triangular prism|>\": 20, \"<|cyan|><|cube|>\": 21}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the moon and the triangular prism in sequence.\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|local-3-3|><|maroon|><|moon|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|local-3-0|><|cyan|><|cube|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|local-1-3|><|teal|><|container|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|local-0-1|><|lime|><|cylinder|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|local-2-0|><|yellow|><|star|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|local-0-0|><|blue|><|triangular prism|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|blue|><|triangular prism|> found at <|24-1|><|local-0-0|> with height 20\nTarget Placement Location: <|maroon|><|moon|> at <|9-1|><|local-3-3|> with height 14\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|9-1|><|local-3-3|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|24-1|>\", \"<|local-0-0|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|24-1|>\", \"<|local-0-0|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|24-1|>\", \"<|local-0-0|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|24-1|>\", \"<|local-0-0|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|9-1|>\", \"<|local-3-3|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|9-1|>\", \"<|local-3-3|>\", 15, 0, 60, 90, 0]\nStep 7: [\"<|9-1|>\", \"<|local-3-3|>\", 15, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|olive|><|cylinder|>": ["<|18-19|><|local-0-3|>", 14]}] | [{"<|black|><|container|>": ["<|12-11|><|local-3-2|>", 1]}] | LOCATE OBJECTS:
Target Object: <|olive|><|cylinder|> found at <|18-19|><|local-0-3|> with height 14
Target Placement Location: <|black|><|container|> at <|12-11|><|local-3-2|> 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: <|12-11|><|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 <|olive|><|cylinder|> into <|black|><|container|>.
| [{"olive-cylinder": [72, 79, 14]}, {"rose-moon": [60, 67, 17]}, {"olive-cube": [97, 1, 16]}, {"cyan-container": [70, 18, 4]}, {"purple-container": [38, 80, 15]}, {"black-container": [51, 46, 1]}] | Pick up the cylinder and place it into the black container | [
[
72,
79,
24,
0,
60,
90,
1
],
[
72,
79,
0,
0,
60,
90,
1
],
[
72,
79,
0,
0,
60,
90,
0
],
[
72,
79,
24,
0,
60,
90,
0
],
[
51,
46,
24,
0,
60,
90,
0
],
[
51,
46,
1,
0,
60,
90,
0
],
[
51,
46,
1,
0,
60,
90,
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 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|olive|><|cylinder|>\": 14, \"<|rose|><|moon|>\": 17, \"<|olive|><|cube|>\": 16, \"<|cyan|><|container|>\": 4, \"<|purple|><|container|>\": 15, \"<|black|><|container|>\": 1}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the cylinder and place it into the black container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|local-2-0|><|purple|><|container|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|local-3-2|><|black|><|container|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|local-0-3|><|rose|><|moon|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|local-2-2|><|cyan|><|container|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|local-0-3|><|olive|><|cylinder|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|local-1-1|><|olive|><|cube|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|olive|><|cylinder|> found at <|18-19|><|local-0-3|> with height 14\nTarget Placement Location: <|black|><|container|> at <|12-11|><|local-3-2|> with height 1\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|12-11|><|local-3-2|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|olive|><|cylinder|> into <|black|><|container|>.\n\n</think>\n\nStep 1: [\"<|18-19|>\", \"<|local-0-3|>\", 24, 0, 60, 90, 1]\nStep 2: [\"<|18-19|>\", \"<|local-0-3|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|18-19|>\", \"<|local-0-3|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|18-19|>\", \"<|local-0-3|>\", 24, 0, 60, 90, 0]\nStep 5: [\"<|12-11|>\", \"<|local-3-2|>\", 24, 0, 60, 90, 0]\nStep 6: [\"<|12-11|>\", \"<|local-3-2|>\", 1, 0, 60, 90, 0]\nStep 7: [\"<|12-11|>\", \"<|local-3-2|>\", 1, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|rose|><|cube|>": ["<|12-18|><|local-0-3|>", 19]}] | [{"<|white|><|container|>": ["<|2-1|><|local-0-1|>", 1]}] | LOCATE OBJECTS:
Target Object: <|rose|><|cube|> found at <|12-18|><|local-0-3|> with height 19
Target Placement Location: <|white|><|container|> at <|2-1|><|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: <|2-1|><|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 <|rose|><|cube|> into <|white|><|container|>.
| [{"rose-cube": [48, 75, 19]}, {"violet-cylinder": [63, 24, 27]}, {"green-container": [73, 71, 10]}, {"white-container": [8, 5, 1]}, {"silver-moon": [13, 52, 15]}] | Pick up the cube and place it into the white container | [
[
48,
75,
29,
0,
60,
90,
1
],
[
48,
75,
0,
0,
60,
90,
1
],
[
48,
75,
0,
0,
60,
90,
0
],
[
48,
75,
29,
0,
60,
90,
0
],
[
8,
5,
29,
0,
60,
90,
0
],
[
8,
5,
1,
0,
60,
90,
0
],
[
8,
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{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|rose|><|cube|>\": 19, \"<|violet|><|cylinder|>\": 27, \"<|green|><|container|>\": 10, \"<|white|><|container|>\": 1, \"<|silver|><|moon|>\": 15}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the cube and place it into the white container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|local-0-1|><|white|><|container|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|local-1-0|><|silver|><|moon|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|local-0-3|><|rose|><|cube|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|local-3-0|><|violet|><|cylinder|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|local-1-3|><|green|><|container|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|rose|><|cube|> found at <|12-18|><|local-0-3|> with height 19\nTarget Placement Location: <|white|><|container|> at <|2-1|><|local-0-1|> with height 1\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|2-1|><|local-0-1|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|rose|><|cube|> into <|white|><|container|>.\n\n</think>\n\nStep 1: [\"<|12-18|>\", \"<|local-0-3|>\", 29, 0, 60, 90, 1]\nStep 2: [\"<|12-18|>\", \"<|local-0-3|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|12-18|>\", \"<|local-0-3|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|12-18|>\", \"<|local-0-3|>\", 29, 0, 60, 90, 0]\nStep 5: [\"<|2-1|>\", \"<|local-0-1|>\", 29, 0, 60, 90, 0]\nStep 6: [\"<|2-1|>\", \"<|local-0-1|>\", 1, 0, 60, 90, 0]\nStep 7: [\"<|2-1|>\", \"<|local-0-1|>\", 1, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|azure|><|cube|>": ["<|11-20|><|local-2-2|>", 9]}] | [{"<|maroon|><|cylinder|>": ["<|13-9|><|local-2-2|>", 28]}] | LOCATE OBJECTS:
Target Object: <|azure|><|cube|> found at <|11-20|><|local-2-2|> with height 9
Target Placement Location: <|maroon|><|cylinder|> at <|13-9|><|local-2-2|> 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: <|13-9|><|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.
| [{"silver-star": [30, 56, 12]}, {"green-moon": [2, 46, 16]}, {"silver-triangular prism": [31, 66, 15]}, {"azure-cube": [46, 82, 9]}, {"maroon-cylinder": [54, 38, 28]}] | Stack the cylinder and the cube in sequence. | [
[
46,
82,
19,
0,
60,
90,
1
],
[
46,
82,
0,
0,
60,
90,
1
],
[
46,
82,
0,
0,
60,
90,
0
],
[
46,
82,
19,
0,
60,
90,
0
],
[
54,
38,
19,
0,
60,
90,
0
],
[
54,
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60,
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[
54,
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29,
0,
60,
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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 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|silver|><|star|>\": 12, \"<|green|><|moon|>\": 16, \"<|silver|><|triangular prism|>\": 15, \"<|azure|><|cube|>\": 9, \"<|maroon|><|cylinder|>\": 28}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the cylinder and the cube in sequence.\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|local-2-2|><|green|><|moon|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|local-2-0|><|silver|><|star|><|7-15|><|empty|><|7-16|><|local-3-2|><|silver|><|triangular prism|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|local-2-2|><|azure|><|cube|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|local-2-2|><|maroon|><|cylinder|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|azure|><|cube|> found at <|11-20|><|local-2-2|> with height 9\nTarget Placement Location: <|maroon|><|cylinder|> at <|13-9|><|local-2-2|> with height 28\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|13-9|><|local-2-2|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|11-20|>\", \"<|local-2-2|>\", 19, 0, 60, 90, 1]\nStep 2: [\"<|11-20|>\", \"<|local-2-2|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|11-20|>\", \"<|local-2-2|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|11-20|>\", \"<|local-2-2|>\", 19, 0, 60, 90, 0]\nStep 5: [\"<|13-9|>\", \"<|local-2-2|>\", 19, 0, 60, 90, 0]\nStep 6: [\"<|13-9|>\", \"<|local-2-2|>\", 29, 0, 60, 90, 0]\nStep 7: [\"<|13-9|>\", \"<|local-2-2|>\", 29, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|rose|><|cylinder|>": ["<|3-7|><|local-3-0|>", 20]}] | [{"<|azure|><|cube|>": ["<|8-16|><|local-2-3|>", 23]}] | LOCATE OBJECTS:
Target Object: <|rose|><|cylinder|> found at <|3-7|><|local-3-0|> with height 20
Target Placement Location: <|azure|><|cube|> at <|8-16|><|local-2-3|> 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: <|8-16|><|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.
| [{"azure-cube": [34, 67, 23]}, {"silver-cube": [31, 9, 18]}, {"blue-cylinder": [42, 30, 1]}, {"gray-triangular prism": [3, 48, 5]}, {"rose-cylinder": [15, 28, 20]}, {"lime-moon": [41, 53, 1]}] | Stack the rose cylinder on top of the azure cube | [
[
15,
28,
30,
0,
60,
90,
1
],
[
15,
28,
0,
0,
60,
90,
1
],
[
15,
28,
0,
0,
60,
90,
0
],
[
15,
28,
30,
0,
60,
90,
0
],
[
34,
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[
34,
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{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|azure|><|cube|>\": 23, \"<|silver|><|cube|>\": 18, \"<|blue|><|cylinder|>\": 1, \"<|gray|><|triangular prism|>\": 5, \"<|rose|><|cylinder|>\": 20, \"<|lime|><|moon|>\": 1}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the rose cylinder on top of the azure cube\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|local-3-0|><|gray|><|triangular prism|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|local-3-0|><|rose|><|cylinder|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|local-3-1|><|silver|><|cube|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|local-2-3|><|azure|><|cube|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|local-2-2|><|blue|><|cylinder|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|local-1-1|><|lime|><|moon|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|rose|><|cylinder|> found at <|3-7|><|local-3-0|> with height 20\nTarget Placement Location: <|azure|><|cube|> at <|8-16|><|local-2-3|> with height 23\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|8-16|><|local-2-3|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|3-7|>\", \"<|local-3-0|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|3-7|>\", \"<|local-3-0|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|3-7|>\", \"<|local-3-0|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|3-7|>\", \"<|local-3-0|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|8-16|>\", \"<|local-2-3|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|8-16|>\", \"<|local-2-3|>\", 24, 0, 60, 90, 0]\nStep 7: [\"<|8-16|>\", \"<|local-2-3|>\", 24, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|magenta|><|cylinder|>": ["<|11-1|><|local-1-1|>", 30]}] | [{"<|olive|><|cube|>": ["<|8-18|><|local-3-3|>", 19]}] | LOCATE OBJECTS:
Target Object: <|magenta|><|cylinder|> found at <|11-1|><|local-1-1|> with height 30
Target Placement Location: <|olive|><|cube|> at <|8-18|><|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: <|8-18|><|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.
| [{"magenta-cylinder": [45, 5, 30]}, {"violet-cube": [49, 6, 5]}, {"azure-star": [41, 40, 1]}, {"olive-cube": [35, 75, 19]}, {"olive-moon": [88, 74, 2]}, {"gray-triangular prism": [18, 8, 13]}] | Stack the olive cube and the magenta cylinder in sequence. | [
[
45,
5,
40,
0,
60,
90,
1
],
[
45,
5,
0,
0,
60,
90,
1
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[
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[
35,
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] | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|magenta|><|cylinder|>\": 30, \"<|violet|><|cube|>\": 5, \"<|azure|><|star|>\": 1, \"<|olive|><|cube|>\": 19, \"<|olive|><|moon|>\": 2, \"<|gray|><|triangular prism|>\": 13}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the olive cube and the magenta cylinder in sequence.\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|local-2-0|><|gray|><|triangular prism|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|local-3-3|><|olive|><|cube|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|local-1-0|><|azure|><|star|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|local-1-1|><|magenta|><|cylinder|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|local-1-2|><|violet|><|cube|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|local-0-2|><|olive|><|moon|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|magenta|><|cylinder|> found at <|11-1|><|local-1-1|> with height 30\nTarget Placement Location: <|olive|><|cube|> at <|8-18|><|local-3-3|> with height 19\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|8-18|><|local-3-3|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|11-1|>\", \"<|local-1-1|>\", 40, 0, 60, 90, 1]\nStep 2: [\"<|11-1|>\", \"<|local-1-1|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|11-1|>\", \"<|local-1-1|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|11-1|>\", \"<|local-1-1|>\", 40, 0, 60, 90, 0]\nStep 5: [\"<|8-18|>\", \"<|local-3-3|>\", 40, 0, 60, 90, 0]\nStep 6: [\"<|8-18|>\", \"<|local-3-3|>\", 20, 0, 60, 90, 0]\nStep 7: [\"<|8-18|>\", \"<|local-3-3|>\", 20, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|green|><|cube|>": ["<|6-11|><|local-0-3|>", 21]}] | [{"<|maroon|><|moon|>": ["<|8-14|><|local-0-3|>", 14]}] | LOCATE OBJECTS:
Target Object: <|green|><|cube|> found at <|6-11|><|local-0-3|> with height 21
Target Placement Location: <|maroon|><|moon|> at <|8-14|><|local-0-3|> 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: <|8-14|><|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 + 1 to avoid collision.
Step 7: Open gripper to finish the task.
| [{"green-cube": [24, 47, 21]}, {"white-star": [9, 93, 17]}, {"maroon-moon": [32, 59, 14]}, {"rose-cube": [63, 9, 1]}, {"silver-cylinder": [85, 81, 18]}] | Stack the maroon moon and the green cube in sequence. | [
[
24,
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{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|green|><|cube|>\": 21, \"<|white|><|star|>\": 17, \"<|maroon|><|moon|>\": 14, \"<|rose|><|cube|>\": 1, \"<|silver|><|cylinder|>\": 18}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the maroon moon and the green cube in sequence.\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|local-1-1|><|white|><|star|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|local-0-3|><|green|><|cube|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|local-0-3|><|maroon|><|moon|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|local-3-1|><|rose|><|cube|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|local-1-1|><|silver|><|cylinder|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|green|><|cube|> found at <|6-11|><|local-0-3|> with height 21\nTarget Placement Location: <|maroon|><|moon|> at <|8-14|><|local-0-3|> with height 14\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|8-14|><|local-0-3|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|6-11|>\", \"<|local-0-3|>\", 31, 0, 60, 90, 1]\nStep 2: [\"<|6-11|>\", \"<|local-0-3|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|6-11|>\", \"<|local-0-3|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|6-11|>\", \"<|local-0-3|>\", 31, 0, 60, 90, 0]\nStep 5: [\"<|8-14|>\", \"<|local-0-3|>\", 31, 0, 60, 90, 0]\nStep 6: [\"<|8-14|>\", \"<|local-0-3|>\", 15, 0, 60, 90, 0]\nStep 7: [\"<|8-14|>\", \"<|local-0-3|>\", 15, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|yellow|><|moon|>": ["<|11-16|><|local-0-2|>", 21]}] | [{"<|blue|><|container|>": ["<|15-14|><|local-0-2|>", 21]}] | LOCATE OBJECTS:
Target Object: <|yellow|><|moon|> found at <|11-16|><|local-0-2|> with height 21
Target Placement Location: <|blue|><|container|> at <|15-14|><|local-0-2|> 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: <|15-14|><|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 <|yellow|><|moon|> into <|blue|><|container|>.
| [{"gray-container": [83, 67, 7]}, {"rose-container": [70, 50, 7]}, {"lime-triangular prism": [98, 38, 11]}, {"blue-container": [60, 58, 21]}, {"olive-cube": [4, 22, 12]}, {"yellow-moon": [44, 66, 21]}, {"gray-moon": [39, 55, 24]}] | Pick up the yellow moon and place it into the blue container | [
[
44,
66,
31,
0,
60,
90,
1
],
[
44,
66,
0,
0,
60,
90,
1
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[
44,
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90,
0
],
[
44,
66,
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0,
60,
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],
[
60,
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0,
60,
90,
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],
[
60,
58,
21,
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60,
90,
0
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[
60,
58,
21,
0,
60,
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] | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|gray|><|container|>\": 7, \"<|rose|><|container|>\": 7, \"<|lime|><|triangular prism|>\": 11, \"<|blue|><|container|>\": 21, \"<|olive|><|cube|>\": 12, \"<|yellow|><|moon|>\": 21, \"<|gray|><|moon|>\": 24}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the yellow moon and place it into the blue container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|local-0-2|><|olive|><|cube|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|local-3-3|><|gray|><|moon|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|local-0-2|><|yellow|><|moon|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|local-0-2|><|blue|><|container|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|local-2-2|><|rose|><|container|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|local-3-3|><|gray|><|container|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|local-2-2|><|lime|><|triangular prism|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|yellow|><|moon|> found at <|11-16|><|local-0-2|> with height 21\nTarget Placement Location: <|blue|><|container|> at <|15-14|><|local-0-2|> with height 21\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|15-14|><|local-0-2|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|yellow|><|moon|> into <|blue|><|container|>.\n\n</think>\n\nStep 1: [\"<|11-16|>\", \"<|local-0-2|>\", 31, 0, 60, 90, 1]\nStep 2: [\"<|11-16|>\", \"<|local-0-2|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|11-16|>\", \"<|local-0-2|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|11-16|>\", \"<|local-0-2|>\", 31, 0, 60, 90, 0]\nStep 5: [\"<|15-14|>\", \"<|local-0-2|>\", 31, 0, 60, 90, 0]\nStep 6: [\"<|15-14|>\", \"<|local-0-2|>\", 21, 0, 60, 90, 0]\nStep 7: [\"<|15-14|>\", \"<|local-0-2|>\", 21, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|olive|><|cube|>": ["<|5-16|><|local-2-3|>", 3]}] | [{"<|teal|><|triangular prism|>": ["<|17-19|><|local-0-1|>", 22]}] | LOCATE OBJECTS:
Target Object: <|olive|><|cube|> found at <|5-16|><|local-2-3|> with height 3
Target Placement Location: <|teal|><|triangular prism|> at <|17-19|><|local-0-1|> 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: <|17-19|><|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 + 1 to avoid collision.
Step 7: Open gripper to finish the task.
| [{"navy-star": [17, 40, 24]}, {"purple-star": [9, 22, 27]}, {"violet-triangular prism": [17, 29, 2]}, {"olive-cube": [22, 67, 3]}, {"teal-triangular prism": [68, 77, 22]}, {"violet-cylinder": [62, 7, 27]}, {"green-cylinder": [47, 16, 3]}] | Stack the olive cube on top of the teal triangular prism | [
[
22,
67,
15,
0,
60,
90,
1
],
[
22,
67,
0,
0,
60,
90,
1
],
[
22,
67,
0,
0,
60,
90,
0
],
[
22,
67,
13,
0,
60,
90,
0
],
[
68,
77,
13,
0,
60,
90,
0
],
[
68,
77,
23,
0,
60,
90,
0
],
[
68,
77,
23,
0,
60,
90,
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 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|navy|><|star|>\": 24, \"<|purple|><|star|>\": 27, \"<|violet|><|triangular prism|>\": 2, \"<|olive|><|cube|>\": 3, \"<|teal|><|triangular prism|>\": 22, \"<|violet|><|cylinder|>\": 27, \"<|green|><|cylinder|>\": 3}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the olive cube on top of the teal triangular prism\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|local-1-2|><|purple|><|star|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|local-1-1|><|violet|><|triangular prism|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|local-1-0|><|navy|><|star|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|local-2-3|><|olive|><|cube|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|local-3-0|><|green|><|cylinder|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|local-2-3|><|violet|><|cylinder|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|local-0-1|><|teal|><|triangular prism|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|olive|><|cube|> found at <|5-16|><|local-2-3|> with height 3\nTarget Placement Location: <|teal|><|triangular prism|> at <|17-19|><|local-0-1|> with height 22\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|17-19|><|local-0-1|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|5-16|>\", \"<|local-2-3|>\", 15, 0, 60, 90, 1]\nStep 2: [\"<|5-16|>\", \"<|local-2-3|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|5-16|>\", \"<|local-2-3|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|5-16|>\", \"<|local-2-3|>\", 13, 0, 60, 90, 0]\nStep 5: [\"<|17-19|>\", \"<|local-0-1|>\", 13, 0, 60, 90, 0]\nStep 6: [\"<|17-19|>\", \"<|local-0-1|>\", 23, 0, 60, 90, 0]\nStep 7: [\"<|17-19|>\", \"<|local-0-1|>\", 23, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|lime|><|cylinder|>": ["<|22-2|><|local-1-3|>", 25]}] | [{"<|rose|><|container|>": ["<|2-12|><|local-1-3|>", 27]}] | LOCATE OBJECTS:
Target Object: <|lime|><|cylinder|> found at <|22-2|><|local-1-3|> with height 25
Target Placement Location: <|rose|><|container|> at <|2-12|><|local-1-3|> 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: <|2-12|><|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 <|lime|><|cylinder|> into <|rose|><|container|>.
| [{"lime-cylinder": [89, 11, 25]}, {"silver-moon": [62, 84, 24]}, {"teal-container": [86, 60, 7]}, {"rose-container": [9, 51, 27]}] | Pick up the cylinder and place it into the rose container | [
[
89,
11,
35,
0,
60,
90,
1
],
[
89,
11,
0,
0,
60,
90,
1
],
[
89,
11,
0,
0,
60,
90,
0
],
[
89,
11,
35,
0,
60,
90,
0
],
[
9,
51,
35,
0,
60,
90,
0
],
[
9,
51,
27,
0,
60,
90,
0
],
[
9,
51,
27,
0,
60,
90,
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 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|lime|><|cylinder|>\": 25, \"<|silver|><|moon|>\": 24, \"<|teal|><|container|>\": 7, \"<|rose|><|container|>\": 27}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the cylinder and place it into the rose container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|local-1-3|><|rose|><|container|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|local-2-0|><|silver|><|moon|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|local-2-0|><|teal|><|container|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|local-1-3|><|lime|><|cylinder|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|lime|><|cylinder|> found at <|22-2|><|local-1-3|> with height 25\nTarget Placement Location: <|rose|><|container|> at <|2-12|><|local-1-3|> with height 27\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|2-12|><|local-1-3|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|lime|><|cylinder|> into <|rose|><|container|>.\n\n</think>\n\nStep 1: [\"<|22-2|>\", \"<|local-1-3|>\", 35, 0, 60, 90, 1]\nStep 2: [\"<|22-2|>\", \"<|local-1-3|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|22-2|>\", \"<|local-1-3|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|22-2|>\", \"<|local-1-3|>\", 35, 0, 60, 90, 0]\nStep 5: [\"<|2-12|>\", \"<|local-1-3|>\", 35, 0, 60, 90, 0]\nStep 6: [\"<|2-12|>\", \"<|local-1-3|>\", 27, 0, 60, 90, 0]\nStep 7: [\"<|2-12|>\", \"<|local-1-3|>\", 27, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|maroon|><|cylinder|>": ["<|24-21|><|local-1-3|>", 9]}] | [{"<|lime|><|container|>": ["<|20-23|><|local-0-2|>", 2]}] | LOCATE OBJECTS:
Target Object: <|maroon|><|cylinder|> found at <|24-21|><|local-1-3|> with height 9
Target Placement Location: <|lime|><|container|> at <|20-23|><|local-0-2|> 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: <|20-23|><|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 <|maroon|><|cylinder|> into <|lime|><|container|>.
| [{"lime-container": [80, 94, 2]}, {"yellow-cube": [85, 53, 9]}, {"violet-star": [20, 16, 6]}, {"silver-moon": [54, 86, 23]}, {"cyan-container": [74, 49, 14]}, {"maroon-cylinder": [97, 87, 9]}] | Pick up the maroon cylinder and place it into the lime container | [
[
97,
87,
19,
0,
60,
90,
1
],
[
97,
87,
0,
0,
60,
90,
1
],
[
97,
87,
0,
0,
60,
90,
0
],
[
97,
87,
19,
0,
60,
90,
0
],
[
80,
94,
19,
0,
60,
90,
0
],
[
80,
94,
2,
0,
60,
90,
0
],
[
80,
94,
2,
0,
60,
90,
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 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|lime|><|container|>\": 2, \"<|yellow|><|cube|>\": 9, \"<|violet|><|star|>\": 6, \"<|silver|><|moon|>\": 23, \"<|cyan|><|container|>\": 14, \"<|maroon|><|cylinder|>\": 9}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the maroon cylinder and place it into the lime container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|local-0-0|><|violet|><|star|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|local-2-2|><|silver|><|moon|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|local-2-1|><|cyan|><|container|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|local-0-2|><|lime|><|container|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|local-1-1|><|yellow|><|cube|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|local-1-3|><|maroon|><|cylinder|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|maroon|><|cylinder|> found at <|24-21|><|local-1-3|> with height 9\nTarget Placement Location: <|lime|><|container|> at <|20-23|><|local-0-2|> with height 2\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|20-23|><|local-0-2|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|maroon|><|cylinder|> into <|lime|><|container|>.\n\n</think>\n\nStep 1: [\"<|24-21|>\", \"<|local-1-3|>\", 19, 0, 60, 90, 1]\nStep 2: [\"<|24-21|>\", \"<|local-1-3|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|24-21|>\", \"<|local-1-3|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|24-21|>\", \"<|local-1-3|>\", 19, 0, 60, 90, 0]\nStep 5: [\"<|20-23|>\", \"<|local-0-2|>\", 19, 0, 60, 90, 0]\nStep 6: [\"<|20-23|>\", \"<|local-0-2|>\", 2, 0, 60, 90, 0]\nStep 7: [\"<|20-23|>\", \"<|local-0-2|>\", 2, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|purple|><|moon|>": ["<|17-16|><|local-0-3|>", 23]}] | [{"<|black|><|container|>": ["<|1-16|><|local-1-2|>", 26]}] | LOCATE OBJECTS:
Target Object: <|purple|><|moon|> found at <|17-16|><|local-0-3|> with height 23
Target Placement Location: <|black|><|container|> at <|1-16|><|local-1-2|> 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: <|1-16|><|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 <|purple|><|moon|> into <|black|><|container|>.
| [{"navy-container": [16, 85, 24]}, {"purple-moon": [68, 67, 23]}, {"red-star": [1, 18, 27]}, {"cyan-cylinder": [95, 10, 1]}, {"black-container": [5, 66, 26]}] | Pick up the purple moon and place it into the black container | [
[
68,
67,
33,
0,
60,
90,
1
],
[
68,
67,
0,
0,
60,
90,
1
],
[
68,
67,
0,
0,
60,
90,
0
],
[
68,
67,
33,
0,
60,
90,
0
],
[
5,
66,
33,
0,
60,
90,
0
],
[
5,
66,
26,
0,
60,
90,
0
],
[
5,
66,
26,
0,
60,
90,
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 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|navy|><|container|>\": 24, \"<|purple|><|moon|>\": 23, \"<|red|><|star|>\": 27, \"<|cyan|><|cylinder|>\": 1, \"<|black|><|container|>\": 26}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the purple moon and place it into the black container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|local-1-2|><|red|><|star|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|local-1-2|><|black|><|container|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|local-0-1|><|navy|><|container|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|local-0-3|><|purple|><|moon|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|local-3-2|><|cyan|><|cylinder|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|purple|><|moon|> found at <|17-16|><|local-0-3|> with height 23\nTarget Placement Location: <|black|><|container|> at <|1-16|><|local-1-2|> with height 26\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|1-16|><|local-1-2|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|purple|><|moon|> into <|black|><|container|>.\n\n</think>\n\nStep 1: [\"<|17-16|>\", \"<|local-0-3|>\", 33, 0, 60, 90, 1]\nStep 2: [\"<|17-16|>\", \"<|local-0-3|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|17-16|>\", \"<|local-0-3|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|17-16|>\", \"<|local-0-3|>\", 33, 0, 60, 90, 0]\nStep 5: [\"<|1-16|>\", \"<|local-1-2|>\", 33, 0, 60, 90, 0]\nStep 6: [\"<|1-16|>\", \"<|local-1-2|>\", 26, 0, 60, 90, 0]\nStep 7: [\"<|1-16|>\", \"<|local-1-2|>\", 26, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|green|><|cylinder|>": ["<|0-23|><|local-0-0|>", 23]}] | [{"<|cyan|><|triangular prism|>": ["<|18-6|><|local-0-1|>", 6]}] | LOCATE OBJECTS:
Target Object: <|green|><|cylinder|> found at <|0-23|><|local-0-0|> with height 23
Target Placement Location: <|cyan|><|triangular prism|> at <|18-6|><|local-0-1|> 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: <|18-6|><|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-cylinder": [81, 48, 3]}, {"green-cylinder": [0, 92, 23]}, {"black-triangular prism": [21, 26, 30]}, {"violet-star": [77, 1, 6]}, {"cyan-triangular prism": [72, 25, 6]}, {"lime-cube": [48, 60, 30]}] | Stack the cyan triangular prism and the green cylinder in sequence. | [
[
0,
92,
33,
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1
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[
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[
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92,
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[
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[
72,
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72,
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{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|olive|><|cylinder|>\": 3, \"<|green|><|cylinder|>\": 23, \"<|black|><|triangular prism|>\": 30, \"<|violet|><|star|>\": 6, \"<|cyan|><|triangular prism|>\": 6, \"<|lime|><|cube|>\": 30}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the cyan triangular prism and the green cylinder in sequence.\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|local-0-0|><|green|><|cylinder|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|local-1-2|><|black|><|triangular prism|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|local-0-0|><|lime|><|cube|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|local-0-1|><|cyan|><|triangular prism|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|local-1-1|><|violet|><|star|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|local-1-0|><|olive|><|cylinder|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|green|><|cylinder|> found at <|0-23|><|local-0-0|> with height 23\nTarget Placement Location: <|cyan|><|triangular prism|> at <|18-6|><|local-0-1|> with height 6\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|18-6|><|local-0-1|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|0-23|>\", \"<|local-0-0|>\", 33, 0, 60, 90, 1]\nStep 2: [\"<|0-23|>\", \"<|local-0-0|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|0-23|>\", \"<|local-0-0|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|0-23|>\", \"<|local-0-0|>\", 33, 0, 60, 90, 0]\nStep 5: [\"<|18-6|>\", \"<|local-0-1|>\", 33, 0, 60, 90, 0]\nStep 6: [\"<|18-6|>\", \"<|local-0-1|>\", 7, 0, 60, 90, 0]\nStep 7: [\"<|18-6|>\", \"<|local-0-1|>\", 7, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|black|><|cylinder|>": ["<|4-1|><|local-0-2|>", 30]}] | [{"<|red|><|moon|>": ["<|5-9|><|local-3-3|>", 22]}] | LOCATE OBJECTS:
Target Object: <|black|><|cylinder|> found at <|4-1|><|local-0-2|> with height 30
Target Placement Location: <|red|><|moon|> at <|5-9|><|local-3-3|> 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: <|5-9|><|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.
| [{"white-cylinder": [74, 16, 20]}, {"navy-triangular prism": [2, 50, 8]}, {"black-cylinder": [16, 6, 30]}, {"red-star": [62, 86, 23]}, {"olive-star": [46, 62, 22]}, {"red-moon": [23, 39, 22]}] | Stack the black cylinder on top of the red moon | [
[
16,
6,
40,
0,
60,
90,
1
],
[
16,
6,
0,
0,
60,
90,
1
],
[
16,
6,
0,
0,
60,
90,
0
],
[
16,
6,
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{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|white|><|cylinder|>\": 20, \"<|navy|><|triangular prism|>\": 8, \"<|black|><|cylinder|>\": 30, \"<|red|><|star|>\": 23, \"<|olive|><|star|>\": 22, \"<|red|><|moon|>\": 22}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the black cylinder on top of the red moon\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|local-2-2|><|navy|><|triangular prism|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|local-0-2|><|black|><|cylinder|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|local-3-3|><|red|><|moon|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|local-2-2|><|olive|><|star|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|local-2-2|><|red|><|star|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|local-2-0|><|white|><|cylinder|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|black|><|cylinder|> found at <|4-1|><|local-0-2|> with height 30\nTarget Placement Location: <|red|><|moon|> at <|5-9|><|local-3-3|> with height 22\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|5-9|><|local-3-3|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|4-1|>\", \"<|local-0-2|>\", 40, 0, 60, 90, 1]\nStep 2: [\"<|4-1|>\", \"<|local-0-2|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|4-1|>\", \"<|local-0-2|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|4-1|>\", \"<|local-0-2|>\", 40, 0, 60, 90, 0]\nStep 5: [\"<|5-9|>\", \"<|local-3-3|>\", 40, 0, 60, 90, 0]\nStep 6: [\"<|5-9|>\", \"<|local-3-3|>\", 23, 0, 60, 90, 0]\nStep 7: [\"<|5-9|>\", \"<|local-3-3|>\", 23, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|lime|><|moon|>": ["<|2-2|><|local-2-2|>", 3]}] | [{"<|violet|><|cube|>": ["<|4-19|><|local-2-0|>", 19]}] | LOCATE OBJECTS:
Target Object: <|lime|><|moon|> found at <|2-2|><|local-2-2|> with height 3
Target Placement Location: [18, 76] with height 19. Map [18, 76] (100x100) to a 25x25 grid, then a 4x4 subgrid. Result: <|4-19|><|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: <|4-19|><|local-2-0|> at the same height as stage 4.
Step 6: Move on top of target location at target_pos: <|4-19|><|local-2-0|> with height target_height.
Step 7: Open gripper to finish the task.
| [{"blue-cylinder": [35, 36, 7]}, {"white-cube": [81, 47, 24]}, {"red-cylinder": [60, 63, 13]}, {"red-cube": [91, 48, 29]}, {"yellow-cube": [6, 55, 1]}, {"violet-cube": [18, 76, 19]}, {"lime-moon": [10, 10, 3]}] | Move the lime moon to [18, 76, 19] | [
[
10,
10,
14,
0,
60,
90,
1
],
[
10,
10,
0,
0,
60,
90,
1
],
[
10,
10,
0,
0,
60,
90,
0
],
[
10,
10,
14,
0,
60,
90,
0
],
[
18,
76,
13,
0,
60,
90,
0
],
[
18,
76,
19,
0,
60,
90,
0
],
[
18,
76,
19,
0,
60,
90,
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 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|blue|><|cylinder|>\": 7, \"<|white|><|cube|>\": 24, \"<|red|><|cylinder|>\": 13, \"<|red|><|cube|>\": 29, \"<|yellow|><|cube|>\": 1, \"<|violet|><|cube|>\": 19, \"<|lime|><|moon|>\": 3}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Move the lime moon to [18, 76, 19]\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|local-2-3|><|yellow|><|cube|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|local-2-2|><|lime|><|moon|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|local-2-0|><|violet|><|cube|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|local-3-0|><|blue|><|cylinder|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|local-0-3|><|red|><|cylinder|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|local-1-3|><|white|><|cube|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|local-3-0|><|red|><|cube|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|lime|><|moon|> found at <|2-2|><|local-2-2|> with height 3\nTarget Placement Location: [18, 76] with height 19. Map [18, 76] (100x100) to a 25x25 grid, then a 4x4 subgrid. Result: <|4-19|><|local-2-0|>.\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|4-19|><|local-2-0|> at the same height as stage 4.\nStep 6: Move on top of target location at target_pos: <|4-19|><|local-2-0|> with height target_height.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|2-2|>\", \"<|local-2-2|>\", 14, 0, 60, 90, 1]\nStep 2: [\"<|2-2|>\", \"<|local-2-2|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|2-2|>\", \"<|local-2-2|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|2-2|>\", \"<|local-2-2|>\", 14, 0, 60, 90, 0]\nStep 5: [\"<|4-19|>\", \"<|local-2-0|>\", 13, 0, 60, 90, 0]\nStep 6: [\"<|4-19|>\", \"<|local-2-0|>\", 19, 0, 60, 90, 0]\nStep 7: [\"<|4-19|>\", \"<|local-2-0|>\", 19, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|blue|><|cube|>": ["<|15-19|><|local-0-0|>", 12]}] | [{"<|magenta|><|cube|>": ["<|3-0|><|local-0-3|>", 12]}] | LOCATE OBJECTS:
Target Object: <|blue|><|cube|> found at <|15-19|><|local-0-0|> with height 12
Target Placement Location: <|magenta|><|cube|> at <|3-0|><|local-0-3|> 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: <|3-0|><|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.
| [{"violet-cylinder": [12, 36, 9]}, {"magenta-cube": [12, 3, 12]}, {"cyan-cylinder": [51, 1, 22]}, {"blue-cube": [60, 76, 12]}, {"gray-cube": [80, 40, 18]}, {"lime-cube": [62, 55, 19]}, {"black-cube": [66, 15, 8]}] | Stack the magenta cube and the blue cube in sequence. | [
[
60,
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22,
0,
60,
90,
1
],
[
60,
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0,
60,
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1
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[
60,
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60,
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[
60,
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60,
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[
12,
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[
12,
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13,
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60,
90,
0
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[
12,
3,
13,
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60,
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] | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|violet|><|cylinder|>\": 9, \"<|magenta|><|cube|>\": 12, \"<|cyan|><|cylinder|>\": 22, \"<|blue|><|cube|>\": 12, \"<|gray|><|cube|>\": 18, \"<|lime|><|cube|>\": 19, \"<|black|><|cube|>\": 8}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the magenta cube and the blue cube in sequence.\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|local-0-3|><|magenta|><|cube|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|local-0-0|><|violet|><|cylinder|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|local-3-1|><|cyan|><|cylinder|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|local-2-3|><|lime|><|cube|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|local-0-0|><|blue|><|cube|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|local-2-3|><|black|><|cube|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|local-0-0|><|gray|><|cube|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|blue|><|cube|> found at <|15-19|><|local-0-0|> with height 12\nTarget Placement Location: <|magenta|><|cube|> at <|3-0|><|local-0-3|> with height 12\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|3-0|><|local-0-3|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|15-19|>\", \"<|local-0-0|>\", 22, 0, 60, 90, 1]\nStep 2: [\"<|15-19|>\", \"<|local-0-0|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|15-19|>\", \"<|local-0-0|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|15-19|>\", \"<|local-0-0|>\", 22, 0, 60, 90, 0]\nStep 5: [\"<|3-0|>\", \"<|local-0-3|>\", 22, 0, 60, 90, 0]\nStep 6: [\"<|3-0|>\", \"<|local-0-3|>\", 13, 0, 60, 90, 0]\nStep 7: [\"<|3-0|>\", \"<|local-0-3|>\", 13, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|gray|><|star|>": ["<|13-5|><|local-1-0|>", 12]}] | [{"<|lime|><|triangular prism|>": ["<|8-0|><|local-0-3|>", 1]}] | LOCATE OBJECTS:
Target Object: <|gray|><|star|> found at <|13-5|><|local-1-0|> with height 12
Target Placement Location: <|lime|><|triangular prism|> at <|8-0|><|local-0-3|> 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: <|8-0|><|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.
| [{"olive-cube": [42, 22, 7]}, {"gray-star": [53, 20, 12]}, {"maroon-triangular prism": [38, 67, 26]}, {"black-moon": [50, 51, 23]}, {"cyan-cylinder": [84, 87, 14]}, {"violet-cylinder": [2, 70, 21]}, {"lime-triangular prism": [32, 3, 1]}] | Stack the lime triangular prism and the gray star in sequence. | [
[
53,
20,
22,
0,
60,
90,
1
],
[
53,
20,
0,
0,
60,
90,
1
],
[
53,
20,
0,
0,
60,
90,
0
],
[
53,
20,
22,
0,
60,
90,
0
],
[
32,
3,
22,
0,
60,
90,
0
],
[
32,
3,
2,
0,
60,
90,
0
],
[
32,
3,
2,
0,
60,
90,
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 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|olive|><|cube|>\": 7, \"<|gray|><|star|>\": 12, \"<|maroon|><|triangular prism|>\": 26, \"<|black|><|moon|>\": 23, \"<|cyan|><|cylinder|>\": 14, \"<|violet|><|cylinder|>\": 21, \"<|lime|><|triangular prism|>\": 1}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the lime triangular prism and the gray star in sequence.\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|local-2-2|><|violet|><|cylinder|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|local-0-3|><|lime|><|triangular prism|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|local-2-3|><|maroon|><|triangular prism|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|local-2-2|><|olive|><|cube|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|local-2-3|><|black|><|moon|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|local-1-0|><|gray|><|star|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|local-0-3|><|cyan|><|cylinder|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|gray|><|star|> found at <|13-5|><|local-1-0|> with height 12\nTarget Placement Location: <|lime|><|triangular prism|> at <|8-0|><|local-0-3|> with height 1\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|8-0|><|local-0-3|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|13-5|>\", \"<|local-1-0|>\", 22, 0, 60, 90, 1]\nStep 2: [\"<|13-5|>\", \"<|local-1-0|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|13-5|>\", \"<|local-1-0|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|13-5|>\", \"<|local-1-0|>\", 22, 0, 60, 90, 0]\nStep 5: [\"<|8-0|>\", \"<|local-0-3|>\", 22, 0, 60, 90, 0]\nStep 6: [\"<|8-0|>\", \"<|local-0-3|>\", 2, 0, 60, 90, 0]\nStep 7: [\"<|8-0|>\", \"<|local-0-3|>\", 2, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|blue|><|cylinder|>": ["<|21-19|><|local-2-1|>", 10]}] | [{"<|maroon|><|container|>": ["<|10-3|><|local-2-2|>", 30]}] | LOCATE OBJECTS:
Target Object: <|blue|><|cylinder|> found at <|21-19|><|local-2-1|> with height 10
Target Placement Location: <|maroon|><|container|> at <|10-3|><|local-2-2|> 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: <|10-3|><|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 <|blue|><|cylinder|> into <|maroon|><|container|>.
| [{"maroon-container": [42, 14, 30]}, {"blue-cylinder": [86, 77, 10]}, {"silver-triangular prism": [51, 53, 5]}, {"red-star": [70, 11, 20]}, {"green-container": [70, 22, 23]}] | Pick up the cylinder and place it into the maroon container | [
[
86,
77,
20,
0,
60,
90,
1
],
[
86,
77,
0,
0,
60,
90,
1
],
[
86,
77,
0,
0,
60,
90,
0
],
[
86,
77,
20,
0,
60,
90,
0
],
[
42,
14,
20,
0,
60,
90,
0
],
[
42,
14,
30,
0,
60,
90,
0
],
[
42,
14,
30,
0,
60,
90,
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 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|maroon|><|container|>\": 30, \"<|blue|><|cylinder|>\": 10, \"<|silver|><|triangular prism|>\": 5, \"<|red|><|star|>\": 20, \"<|green|><|container|>\": 23}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the cylinder and place it into the maroon container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|local-2-2|><|maroon|><|container|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|local-3-1|><|silver|><|triangular prism|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|local-2-3|><|red|><|star|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|local-2-2|><|green|><|container|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|local-2-1|><|blue|><|cylinder|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|blue|><|cylinder|> found at <|21-19|><|local-2-1|> with height 10\nTarget Placement Location: <|maroon|><|container|> at <|10-3|><|local-2-2|> with height 30\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|10-3|><|local-2-2|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|blue|><|cylinder|> into <|maroon|><|container|>.\n\n</think>\n\nStep 1: [\"<|21-19|>\", \"<|local-2-1|>\", 20, 0, 60, 90, 1]\nStep 2: [\"<|21-19|>\", \"<|local-2-1|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|21-19|>\", \"<|local-2-1|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|21-19|>\", \"<|local-2-1|>\", 20, 0, 60, 90, 0]\nStep 5: [\"<|10-3|>\", \"<|local-2-2|>\", 20, 0, 60, 90, 0]\nStep 6: [\"<|10-3|>\", \"<|local-2-2|>\", 30, 0, 60, 90, 0]\nStep 7: [\"<|10-3|>\", \"<|local-2-2|>\", 30, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|azure|><|moon|>": ["<|13-7|><|local-0-3|>", 15]}] | [{"<|yellow|><|triangular prism|>": ["<|15-6|><|local-3-2|>", 30]}] | LOCATE OBJECTS:
Target Object: <|azure|><|moon|> found at <|13-7|><|local-0-3|> with height 15
Target Placement Location: [63, 26] with height 30. Map [63, 26] (100x100) to a 25x25 grid, then a 4x4 subgrid. Result: <|15-6|><|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: <|15-6|><|local-3-2|> at the same height as stage 4.
Step 6: Move on top of target location at target_pos: <|15-6|><|local-3-2|> with height target_height.
Step 7: Open gripper to finish the task.
| [{"magenta-cube": [93, 65, 15]}, {"purple-cube": [9, 93, 4]}, {"cyan-triangular prism": [93, 0, 18]}, {"yellow-triangular prism": [63, 26, 30]}, {"azure-moon": [52, 31, 15]}] | Move the azure moon to [63, 26, 30] | [
[
52,
31,
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90,
1
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[
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] | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|magenta|><|cube|>\": 15, \"<|purple|><|cube|>\": 4, \"<|cyan|><|triangular prism|>\": 18, \"<|yellow|><|triangular prism|>\": 30, \"<|azure|><|moon|>\": 15}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Move the azure moon to [63, 26, 30]\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|local-1-1|><|purple|><|cube|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|local-0-3|><|azure|><|moon|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|local-3-2|><|yellow|><|triangular prism|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|local-1-0|><|cyan|><|triangular prism|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|local-1-1|><|magenta|><|cube|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|azure|><|moon|> found at <|13-7|><|local-0-3|> with height 15\nTarget Placement Location: [63, 26] with height 30. Map [63, 26] (100x100) to a 25x25 grid, then a 4x4 subgrid. Result: <|15-6|><|local-3-2|>.\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|15-6|><|local-3-2|> at the same height as stage 4.\nStep 6: Move on top of target location at target_pos: <|15-6|><|local-3-2|> with height target_height.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|13-7|>\", \"<|local-0-3|>\", 25, 0, 60, 90, 1]\nStep 2: [\"<|13-7|>\", \"<|local-0-3|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|13-7|>\", \"<|local-0-3|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|13-7|>\", \"<|local-0-3|>\", 25, 0, 60, 90, 0]\nStep 5: [\"<|15-6|>\", \"<|local-3-2|>\", 25, 0, 60, 90, 0]\nStep 6: [\"<|15-6|>\", \"<|local-3-2|>\", 30, 0, 60, 90, 0]\nStep 7: [\"<|15-6|>\", \"<|local-3-2|>\", 30, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|red|><|triangular prism|>": ["<|15-16|><|local-3-1|>", 22]}] | [{"<|lime|><|cube|>": ["<|18-14|><|local-2-1|>", 13]}] | LOCATE OBJECTS:
Target Object: <|red|><|triangular prism|> found at <|15-16|><|local-3-1|> with height 22
Target Placement Location: <|lime|><|cube|> at <|18-14|><|local-2-1|> 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: <|18-14|><|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.
| [{"maroon-star": [29, 74, 5]}, {"red-triangular prism": [63, 65, 22]}, {"azure-star": [24, 86, 12]}, {"white-moon": [30, 67, 9]}, {"yellow-star": [35, 47, 21]}, {"lime-cube": [74, 57, 13]}, {"azure-cube": [76, 7, 7]}] | Stack the red triangular prism on top of the lime cube | [
[
63,
65,
32,
0,
60,
90,
1
],
[
63,
65,
0,
0,
60,
90,
1
],
[
63,
65,
0,
0,
60,
90,
0
],
[
63,
65,
32,
0,
60,
90,
0
],
[
74,
57,
32,
0,
60,
90,
0
],
[
74,
57,
14,
0,
60,
90,
0
],
[
74,
57,
14,
0,
60,
90,
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 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|maroon|><|star|>\": 5, \"<|red|><|triangular prism|>\": 22, \"<|azure|><|star|>\": 12, \"<|white|><|moon|>\": 9, \"<|yellow|><|star|>\": 21, \"<|lime|><|cube|>\": 13, \"<|azure|><|cube|>\": 7}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the red triangular prism on top of the lime cube\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|local-0-2|><|azure|><|star|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|local-2-3|><|white|><|moon|><|7-17|><|empty|><|7-18|><|local-1-2|><|maroon|><|star|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|local-3-3|><|yellow|><|star|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|local-3-1|><|red|><|triangular prism|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|local-2-1|><|lime|><|cube|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|local-0-3|><|azure|><|cube|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|red|><|triangular prism|> found at <|15-16|><|local-3-1|> with height 22\nTarget Placement Location: <|lime|><|cube|> at <|18-14|><|local-2-1|> with height 13\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|18-14|><|local-2-1|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|15-16|>\", \"<|local-3-1|>\", 32, 0, 60, 90, 1]\nStep 2: [\"<|15-16|>\", \"<|local-3-1|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|15-16|>\", \"<|local-3-1|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|15-16|>\", \"<|local-3-1|>\", 32, 0, 60, 90, 0]\nStep 5: [\"<|18-14|>\", \"<|local-2-1|>\", 32, 0, 60, 90, 0]\nStep 6: [\"<|18-14|>\", \"<|local-2-1|>\", 14, 0, 60, 90, 0]\nStep 7: [\"<|18-14|>\", \"<|local-2-1|>\", 14, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|purple|><|moon|>": ["<|12-9|><|local-3-3|>", 23]}] | [{"<|green|><|container|>": ["<|18-13|><|local-0-2|>", 18]}] | LOCATE OBJECTS:
Target Object: <|purple|><|moon|> found at <|12-9|><|local-3-3|> with height 23
Target Placement Location: <|green|><|container|> at <|18-13|><|local-0-2|> 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: <|18-13|><|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 <|purple|><|moon|> into <|green|><|container|>.
| [{"teal-star": [52, 2, 27]}, {"purple-moon": [51, 39, 23]}, {"violet-container": [69, 64, 30]}, {"green-triangular prism": [78, 46, 8]}, {"green-container": [72, 54, 18]}, {"cyan-moon": [36, 22, 26]}] | Pick up the purple moon and place it into the green container | [
[
51,
39,
33,
0,
60,
90,
1
],
[
51,
39,
0,
0,
60,
90,
1
],
[
51,
39,
0,
0,
60,
90,
0
],
[
51,
39,
33,
0,
60,
90,
0
],
[
72,
54,
33,
0,
60,
90,
0
],
[
72,
54,
18,
0,
60,
90,
0
],
[
72,
54,
18,
0,
60,
90,
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 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|teal|><|star|>\": 27, \"<|purple|><|moon|>\": 23, \"<|violet|><|container|>\": 30, \"<|green|><|triangular prism|>\": 8, \"<|green|><|container|>\": 18, \"<|cyan|><|moon|>\": 26}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the purple moon and place it into the green container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|local-0-2|><|cyan|><|moon|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|local-3-3|><|purple|><|moon|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|local-0-2|><|teal|><|star|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|local-1-0|><|violet|><|container|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|local-0-2|><|green|><|container|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|local-2-2|><|green|><|triangular prism|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|purple|><|moon|> found at <|12-9|><|local-3-3|> with height 23\nTarget Placement Location: <|green|><|container|> at <|18-13|><|local-0-2|> with height 18\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|18-13|><|local-0-2|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|purple|><|moon|> into <|green|><|container|>.\n\n</think>\n\nStep 1: [\"<|12-9|>\", \"<|local-3-3|>\", 33, 0, 60, 90, 1]\nStep 2: [\"<|12-9|>\", \"<|local-3-3|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|12-9|>\", \"<|local-3-3|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|12-9|>\", \"<|local-3-3|>\", 33, 0, 60, 90, 0]\nStep 5: [\"<|18-13|>\", \"<|local-0-2|>\", 33, 0, 60, 90, 0]\nStep 6: [\"<|18-13|>\", \"<|local-0-2|>\", 18, 0, 60, 90, 0]\nStep 7: [\"<|18-13|>\", \"<|local-0-2|>\", 18, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|white|><|cube|>": ["<|7-0|><|local-1-0|>", 13]}] | [{"<|azure|><|container|>": ["<|9-12|><|local-0-1|>", 29]}] | LOCATE OBJECTS:
Target Object: <|white|><|cube|> found at <|7-0|><|local-1-0|> with height 13
Target Placement Location: <|azure|><|container|> at <|9-12|><|local-0-1|> 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: <|9-12|><|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|><|cube|> into <|azure|><|container|>.
| [{"azure-container": [36, 49, 29]}, {"azure-cylinder": [52, 85, 29]}, {"violet-container": [51, 76, 11]}, {"navy-container": [84, 19, 13]}, {"white-cube": [29, 0, 13]}] | Pick up the cube and place it into the azure container | [
[
29,
0,
23,
0,
60,
90,
1
],
[
29,
0,
0,
0,
60,
90,
1
],
[
29,
0,
0,
0,
60,
90,
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{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|azure|><|container|>\": 29, \"<|azure|><|cylinder|>\": 29, \"<|violet|><|container|>\": 11, \"<|navy|><|container|>\": 13, \"<|white|><|cube|>\": 13}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the cube and place it into the azure container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|local-1-0|><|white|><|cube|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|local-0-1|><|azure|><|container|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|local-3-0|><|violet|><|container|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|local-0-1|><|azure|><|cylinder|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|local-0-3|><|navy|><|container|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|white|><|cube|> found at <|7-0|><|local-1-0|> with height 13\nTarget Placement Location: <|azure|><|container|> at <|9-12|><|local-0-1|> with height 29\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|9-12|><|local-0-1|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|white|><|cube|> into <|azure|><|container|>.\n\n</think>\n\nStep 1: [\"<|7-0|>\", \"<|local-1-0|>\", 23, 0, 60, 90, 1]\nStep 2: [\"<|7-0|>\", \"<|local-1-0|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|7-0|>\", \"<|local-1-0|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|7-0|>\", \"<|local-1-0|>\", 23, 0, 60, 90, 0]\nStep 5: [\"<|9-12|>\", \"<|local-0-1|>\", 23, 0, 60, 90, 0]\nStep 6: [\"<|9-12|>\", \"<|local-0-1|>\", 29, 0, 60, 90, 0]\nStep 7: [\"<|9-12|>\", \"<|local-0-1|>\", 29, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|navy|><|triangular prism|>": ["<|7-10|><|local-1-2|>", 1]}] | [{"<|cyan|><|container|>": ["<|1-10|><|local-2-1|>", 13]}] | LOCATE OBJECTS:
Target Object: <|navy|><|triangular prism|> found at <|7-10|><|local-1-2|> with height 1
Target Placement Location: <|cyan|><|container|> at <|1-10|><|local-2-1|> 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: <|1-10|><|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 cause the container is empty.
Step 7: Open gripper to drop the <|navy|><|triangular prism|> into <|cyan|><|container|>.
| [{"cyan-container": [6, 41, 13]}, {"purple-moon": [86, 11, 23]}, {"azure-container": [10, 17, 14]}, {"gray-container": [80, 56, 26]}, {"navy-triangular prism": [29, 42, 1]}, {"teal-triangular prism": [45, 98, 19]}] | Pick up the navy triangular prism and place it into the cyan container | [
[
29,
42,
14,
0,
60,
90,
1
],
[
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{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|cyan|><|container|>\": 13, \"<|purple|><|moon|>\": 23, \"<|azure|><|container|>\": 14, \"<|gray|><|container|>\": 26, \"<|navy|><|triangular prism|>\": 1, \"<|teal|><|triangular prism|>\": 19}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the navy triangular prism and place it into the cyan container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|local-2-1|><|cyan|><|container|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|local-2-1|><|azure|><|container|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|local-1-2|><|navy|><|triangular prism|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|local-1-2|><|teal|><|triangular prism|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|local-0-0|><|gray|><|container|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|local-2-3|><|purple|><|moon|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|navy|><|triangular prism|> found at <|7-10|><|local-1-2|> with height 1\nTarget Placement Location: <|cyan|><|container|> at <|1-10|><|local-2-1|> with height 13\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|1-10|><|local-2-1|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|navy|><|triangular prism|> into <|cyan|><|container|>.\n\n</think>\n\nStep 1: [\"<|7-10|>\", \"<|local-1-2|>\", 14, 0, 60, 90, 1]\nStep 2: [\"<|7-10|>\", \"<|local-1-2|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|7-10|>\", \"<|local-1-2|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|7-10|>\", \"<|local-1-2|>\", 12, 0, 60, 90, 0]\nStep 5: [\"<|1-10|>\", \"<|local-2-1|>\", 14, 0, 60, 90, 0]\nStep 6: [\"<|1-10|>\", \"<|local-2-1|>\", 13, 0, 60, 90, 0]\nStep 7: [\"<|1-10|>\", \"<|local-2-1|>\", 13, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|red|><|cube|>": ["<|3-13|><|local-3-1|>", 30]}] | [{"<|yellow|><|star|>": ["<|5-20|><|local-1-2|>", 30]}] | LOCATE OBJECTS:
Target Object: <|red|><|cube|> found at <|3-13|><|local-3-1|> with height 30
Target Placement Location: <|yellow|><|star|> at <|5-20|><|local-1-2|> 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: <|5-20|><|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.
| [{"black-star": [4, 5, 24]}, {"green-star": [32, 70, 3]}, {"violet-moon": [2, 25, 7]}, {"red-cube": [15, 53, 30]}, {"olive-star": [64, 29, 4]}, {"green-cube": [12, 71, 27]}, {"yellow-star": [21, 82, 30]}] | Stack the red cube on top of the yellow star | [
[
15,
53,
40,
0,
60,
90,
1
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15,
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[
15,
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[
15,
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60,
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[
21,
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60,
90,
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[
21,
82,
31,
0,
60,
90,
0
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[
21,
82,
31,
0,
60,
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1
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] | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|black|><|star|>\": 24, \"<|green|><|star|>\": 3, \"<|violet|><|moon|>\": 7, \"<|red|><|cube|>\": 30, \"<|olive|><|star|>\": 4, \"<|green|><|cube|>\": 27, \"<|yellow|><|star|>\": 30}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the red cube on top of the yellow star\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|local-2-1|><|violet|><|moon|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|local-0-1|><|black|><|star|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|local-3-1|><|red|><|cube|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|local-0-3|><|green|><|cube|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|local-1-2|><|yellow|><|star|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|local-0-2|><|green|><|star|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|local-0-1|><|olive|><|star|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|red|><|cube|> found at <|3-13|><|local-3-1|> with height 30\nTarget Placement Location: <|yellow|><|star|> at <|5-20|><|local-1-2|> with height 30\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|5-20|><|local-1-2|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|3-13|>\", \"<|local-3-1|>\", 40, 0, 60, 90, 1]\nStep 2: [\"<|3-13|>\", \"<|local-3-1|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|3-13|>\", \"<|local-3-1|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|3-13|>\", \"<|local-3-1|>\", 40, 0, 60, 90, 0]\nStep 5: [\"<|5-20|>\", \"<|local-1-2|>\", 40, 0, 60, 90, 0]\nStep 6: [\"<|5-20|>\", \"<|local-1-2|>\", 31, 0, 60, 90, 0]\nStep 7: [\"<|5-20|>\", \"<|local-1-2|>\", 31, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|azure|><|star|>": ["<|10-0|><|local-1-3|>", 21]}] | [{"<|gray|><|cylinder|>": ["<|11-11|><|local-3-3|>", 27]}] | LOCATE OBJECTS:
Target Object: <|azure|><|star|> found at <|10-0|><|local-1-3|> with height 21
Target Placement Location: <|gray|><|cylinder|> at <|11-11|><|local-3-3|> 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: <|11-11|><|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.
| [{"gray-cylinder": [47, 47, 27]}, {"teal-cylinder": [87, 12, 21]}, {"purple-cube": [44, 15, 9]}, {"rose-moon": [39, 61, 6]}, {"purple-star": [74, 22, 9]}, {"azure-star": [41, 3, 21]}] | Stack the azure star on top of the gray cylinder | [
[
41,
3,
31,
0,
60,
90,
1
],
[
41,
3,
0,
0,
60,
90,
1
],
[
41,
3,
0,
0,
60,
90,
0
],
[
41,
3,
31,
0,
60,
90,
0
],
[
47,
47,
31,
0,
60,
90,
0
],
[
47,
47,
28,
0,
60,
90,
0
],
[
47,
47,
28,
0,
60,
90,
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 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|gray|><|cylinder|>\": 27, \"<|teal|><|cylinder|>\": 21, \"<|purple|><|cube|>\": 9, \"<|rose|><|moon|>\": 6, \"<|purple|><|star|>\": 9, \"<|azure|><|star|>\": 21}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the azure star on top of the gray cylinder\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|local-3-1|><|rose|><|moon|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|local-1-3|><|azure|><|star|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|local-0-3|><|purple|><|cube|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|local-3-3|><|gray|><|cylinder|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|local-2-2|><|purple|><|star|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|local-3-0|><|teal|><|cylinder|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|azure|><|star|> found at <|10-0|><|local-1-3|> with height 21\nTarget Placement Location: <|gray|><|cylinder|> at <|11-11|><|local-3-3|> with height 27\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|11-11|><|local-3-3|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|10-0|>\", \"<|local-1-3|>\", 31, 0, 60, 90, 1]\nStep 2: [\"<|10-0|>\", \"<|local-1-3|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|10-0|>\", \"<|local-1-3|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|10-0|>\", \"<|local-1-3|>\", 31, 0, 60, 90, 0]\nStep 5: [\"<|11-11|>\", \"<|local-3-3|>\", 31, 0, 60, 90, 0]\nStep 6: [\"<|11-11|>\", \"<|local-3-3|>\", 28, 0, 60, 90, 0]\nStep 7: [\"<|11-11|>\", \"<|local-3-3|>\", 28, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|magenta|><|star|>": ["<|21-6|><|local-2-2|>", 7]}] | [{"<|gray|><|cylinder|>": ["<|0-11|><|local-2-3|>", 27]}] | LOCATE OBJECTS:
Target Object: <|magenta|><|star|> found at <|21-6|><|local-2-2|> with height 7
Target Placement Location: <|gray|><|cylinder|> at <|0-11|><|local-2-3|> 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: <|0-11|><|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.
| [{"azure-moon": [24, 81, 22]}, {"lime-moon": [81, 20, 11]}, {"cyan-triangular prism": [83, 0, 14]}, {"magenta-star": [86, 26, 7]}, {"yellow-cylinder": [82, 63, 2]}, {"gray-star": [90, 12, 28]}, {"gray-cylinder": [2, 47, 27]}] | Stack the magenta star on top of the gray cylinder | [
[
86,
26,
17,
0,
60,
90,
1
],
[
86,
26,
0,
0,
60,
90,
1
],
[
86,
26,
0,
0,
60,
90,
0
],
[
86,
26,
17,
0,
60,
90,
0
],
[
2,
47,
17,
0,
60,
90,
0
],
[
2,
47,
28,
0,
60,
90,
0
],
[
2,
47,
28,
0,
60,
90,
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 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|azure|><|moon|>\": 22, \"<|lime|><|moon|>\": 11, \"<|cyan|><|triangular prism|>\": 14, \"<|magenta|><|star|>\": 7, \"<|yellow|><|cylinder|>\": 2, \"<|gray|><|star|>\": 28, \"<|gray|><|cylinder|>\": 27}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the magenta star on top of the gray cylinder\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|local-2-3|><|gray|><|cylinder|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|local-0-1|><|azure|><|moon|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|local-3-0|><|cyan|><|triangular prism|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|local-1-0|><|lime|><|moon|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|local-2-3|><|yellow|><|cylinder|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|local-2-2|><|magenta|><|star|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|local-2-0|><|gray|><|star|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|magenta|><|star|> found at <|21-6|><|local-2-2|> with height 7\nTarget Placement Location: <|gray|><|cylinder|> at <|0-11|><|local-2-3|> with height 27\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|0-11|><|local-2-3|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|21-6|>\", \"<|local-2-2|>\", 17, 0, 60, 90, 1]\nStep 2: [\"<|21-6|>\", \"<|local-2-2|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|21-6|>\", \"<|local-2-2|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|21-6|>\", \"<|local-2-2|>\", 17, 0, 60, 90, 0]\nStep 5: [\"<|0-11|>\", \"<|local-2-3|>\", 17, 0, 60, 90, 0]\nStep 6: [\"<|0-11|>\", \"<|local-2-3|>\", 28, 0, 60, 90, 0]\nStep 7: [\"<|0-11|>\", \"<|local-2-3|>\", 28, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|yellow|><|star|>": ["<|5-10|><|local-0-2|>", 15]}] | [{"<|navy|><|cube|>": ["<|10-15|><|local-1-1|>", 10]}] | LOCATE OBJECTS:
Target Object: <|yellow|><|star|> found at <|5-10|><|local-0-2|> with height 15
Target Placement Location: <|navy|><|cube|> at <|10-15|><|local-1-1|> 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: <|10-15|><|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 + 1 to avoid collision.
Step 7: Open gripper to finish the task.
| [{"navy-cube": [41, 61, 10]}, {"purple-cube": [10, 65, 29]}, {"azure-cube": [90, 85, 17]}, {"yellow-star": [20, 42, 15]}, {"magenta-cylinder": [40, 93, 5]}] | Stack the yellow star on top of the navy cube | [
[
20,
42,
25,
0,
60,
90,
1
],
[
20,
42,
0,
0,
60,
90,
1
],
[
20,
42,
0,
0,
60,
90,
0
],
[
20,
42,
25,
0,
60,
90,
0
],
[
41,
61,
25,
0,
60,
90,
0
],
[
41,
61,
11,
0,
60,
90,
0
],
[
41,
61,
11,
0,
60,
90,
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 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|navy|><|cube|>\": 10, \"<|purple|><|cube|>\": 29, \"<|azure|><|cube|>\": 17, \"<|yellow|><|star|>\": 15, \"<|magenta|><|cylinder|>\": 5}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the yellow star on top of the navy cube\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|local-2-1|><|purple|><|cube|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|local-0-2|><|yellow|><|star|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|local-1-1|><|navy|><|cube|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|local-0-1|><|magenta|><|cylinder|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|local-2-1|><|azure|><|cube|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|yellow|><|star|> found at <|5-10|><|local-0-2|> with height 15\nTarget Placement Location: <|navy|><|cube|> at <|10-15|><|local-1-1|> with height 10\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|10-15|><|local-1-1|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|5-10|>\", \"<|local-0-2|>\", 25, 0, 60, 90, 1]\nStep 2: [\"<|5-10|>\", \"<|local-0-2|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|5-10|>\", \"<|local-0-2|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|5-10|>\", \"<|local-0-2|>\", 25, 0, 60, 90, 0]\nStep 5: [\"<|10-15|>\", \"<|local-1-1|>\", 25, 0, 60, 90, 0]\nStep 6: [\"<|10-15|>\", \"<|local-1-1|>\", 11, 0, 60, 90, 0]\nStep 7: [\"<|10-15|>\", \"<|local-1-1|>\", 11, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|rose|><|cube|>": ["<|5-7|><|local-2-0|>", 9]}] | [{"<|violet|><|container|>": ["<|11-20|><|local-2-2|>", 27]}] | LOCATE OBJECTS:
Target Object: <|rose|><|cube|> found at <|5-7|><|local-2-0|> with height 9
Target Placement Location: <|violet|><|container|> at <|11-20|><|local-2-2|> 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: <|11-20|><|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 <|rose|><|cube|> into <|violet|><|container|>.
| [{"rose-container": [90, 28, 22]}, {"teal-cylinder": [9, 39, 13]}, {"violet-container": [46, 82, 27]}, {"white-star": [26, 43, 3]}, {"green-cylinder": [67, 37, 14]}, {"rose-cube": [22, 28, 9]}] | Pick up the rose cube and place it into the violet container | [
[
22,
28,
19,
0,
60,
90,
1
],
[
22,
28,
0,
0,
60,
90,
1
],
[
22,
28,
0,
0,
60,
90,
0
],
[
22,
28,
19,
0,
60,
90,
0
],
[
46,
82,
19,
0,
60,
90,
0
],
[
46,
82,
27,
0,
60,
90,
0
],
[
46,
82,
27,
0,
60,
90,
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 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|rose|><|container|>\": 22, \"<|teal|><|cylinder|>\": 13, \"<|violet|><|container|>\": 27, \"<|white|><|star|>\": 3, \"<|green|><|cylinder|>\": 14, \"<|rose|><|cube|>\": 9}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the rose cube and place it into the violet container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|local-1-3|><|teal|><|cylinder|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|local-2-0|><|rose|><|cube|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|local-2-3|><|white|><|star|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|local-2-2|><|violet|><|container|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|local-3-1|><|green|><|cylinder|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|local-2-0|><|rose|><|container|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|rose|><|cube|> found at <|5-7|><|local-2-0|> with height 9\nTarget Placement Location: <|violet|><|container|> at <|11-20|><|local-2-2|> with height 27\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|11-20|><|local-2-2|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|rose|><|cube|> into <|violet|><|container|>.\n\n</think>\n\nStep 1: [\"<|5-7|>\", \"<|local-2-0|>\", 19, 0, 60, 90, 1]\nStep 2: [\"<|5-7|>\", \"<|local-2-0|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|5-7|>\", \"<|local-2-0|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|5-7|>\", \"<|local-2-0|>\", 19, 0, 60, 90, 0]\nStep 5: [\"<|11-20|>\", \"<|local-2-2|>\", 19, 0, 60, 90, 0]\nStep 6: [\"<|11-20|>\", \"<|local-2-2|>\", 27, 0, 60, 90, 0]\nStep 7: [\"<|11-20|>\", \"<|local-2-2|>\", 27, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
[{"<|red|><|moon|>": ["<|5-3|><|local-2-3|>", 15]}] | [{"<|green|><|container|>": ["<|23-18|><|local-0-3|>", 21]}] | LOCATE OBJECTS:
Target Object: <|red|><|moon|> found at <|5-3|><|local-2-3|> with height 15
Target Placement Location: <|green|><|container|> at <|23-18|><|local-0-3|> 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: <|23-18|><|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 <|red|><|moon|> into <|green|><|container|>.
| [{"blue-container": [33, 39, 17]}, {"red-cube": [5, 97, 18]}, {"red-moon": [22, 15, 15]}, {"green-container": [92, 75, 21]}, {"cyan-triangular prism": [58, 89, 6]}] | Pick up the red moon and place it into the green container | [
[
22,
15,
25,
0,
60,
90,
1
],
[
22,
15,
0,
0,
60,
90,
1
],
[
22,
15,
0,
0,
60,
90,
0
],
[
22,
15,
25,
0,
60,
90,
0
],
[
92,
75,
25,
0,
60,
90,
0
],
[
92,
75,
21,
0,
60,
90,
0
],
[
92,
75,
21,
0,
60,
90,
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 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|blue|><|container|>\": 17, \"<|red|><|cube|>\": 18, \"<|red|><|moon|>\": 15, \"<|green|><|container|>\": 21, \"<|cyan|><|triangular prism|>\": 6}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the red moon and place it into the green container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|local-1-1|><|red|><|cube|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|local-2-3|><|red|><|moon|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|local-1-3|><|blue|><|container|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|local-2-1|><|cyan|><|triangular prism|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|local-0-3|><|green|><|container|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.",
"role": "user"
},
{
"content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|red|><|moon|> found at <|5-3|><|local-2-3|> with height 15\nTarget Placement Location: <|green|><|container|> at <|23-18|><|local-0-3|> with height 21\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|23-18|><|local-0-3|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|red|><|moon|> into <|green|><|container|>.\n\n</think>\n\nStep 1: [\"<|5-3|>\", \"<|local-2-3|>\", 25, 0, 60, 90, 1]\nStep 2: [\"<|5-3|>\", \"<|local-2-3|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|5-3|>\", \"<|local-2-3|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|5-3|>\", \"<|local-2-3|>\", 25, 0, 60, 90, 0]\nStep 5: [\"<|23-18|>\", \"<|local-0-3|>\", 25, 0, 60, 90, 0]\nStep 6: [\"<|23-18|>\", \"<|local-0-3|>\", 21, 0, 60, 90, 0]\nStep 7: [\"<|23-18|>\", \"<|local-0-3|>\", 21, 0, 60, 90, 1]",
"role": "assistant"
}
]
|
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