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