Datasets:

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jan-hq

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Pick-Place-Table

like 0

[ [ 50, 57, 30, 0, 60, 90, 1 ], [ 50, 57, 17, 0, 60, 90, 1 ], [ 50, 57, 17, 0, 60, 90, 0 ], [ 50, 57, 30, 0, 60, 90, 0 ], [ 19, 65, 30, 0, 60, 90, 0 ], [ 19, 65, 17, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|olive|><|container|>\": 17, \"<|magenta|><|cylinder|>\": 17, \"<|lime|><|triangular prism|>\": 18, \"<|white|><|cube|>\": 17, \"<|lime|><|cylinder|>\": 18}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 white 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|><|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|><|lime|><|cylinder|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|white|><|cube|><|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|><|magenta|><|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|><|olive|><|container|><|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|><|lime|><|triangular prism|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|14-12|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|14-12|>\", 17, 0, 60, 90, 1]\nStep3: [\"<|14-12|>\", 17, 0, 60, 90, 0]\nStep4: [\"<|14-12|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|16-4|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|16-4|>\", 17, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 26, 24, 30, 0, 60, 90, 1 ], [ 26, 24, 17, 0, 60, 90, 1 ], [ 26, 24, 17, 0, 60, 90, 0 ], [ 26, 24, 30, 0, 60, 90, 0 ], [ 67, 75, 30, 0, 60, 90, 0 ], [ 67, 75, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|azure|><|star|>\": 18, \"<|olive|><|container|>\": 19, \"<|olive|><|cube|>\": 17, \"<|cyan|><|star|>\": 18, \"<|blue|><|cylinder|>\": 18}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 olive 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|><|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|><|olive|><|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|><|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|><|blue|><|cylinder|><|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|><|cyan|><|star|><|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|><|azure|><|star|><|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|><|olive|><|container|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|6-6|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|6-6|>\", 17, 0, 60, 90, 1]\nStep3: [\"<|6-6|>\", 17, 0, 60, 90, 0]\nStep4: [\"<|6-6|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|18-16|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|18-16|>\", 19, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 71, 30, 30, 0, 60, 90, 1 ], [ 71, 30, 17, 0, 60, 90, 1 ], [ 71, 30, 17, 0, 60, 90, 0 ], [ 71, 30, 30, 0, 60, 90, 0 ], [ 85, 52, 30, 0, 60, 90, 0 ], [ 85, 52, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|red|><|star|>\": 17, \"<|red|><|triangular prism|>\": 17, \"<|lime|><|cube|>\": 17, \"<|azure|><|cube|>\": 17}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 red 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|><|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|><|azure|><|cube|><|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|><|red|><|star|><|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|><|red|><|triangular prism|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|7-17|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|7-17|>\", 17, 0, 60, 90, 1]\nStep3: [\"<|7-17|>\", 17, 0, 60, 90, 0]\nStep4: [\"<|7-17|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|13-21|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|13-21|>\", 21, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 68, 61, 30, 0, 60, 90, 1 ], [ 68, 61, 17, 0, 60, 90, 1 ], [ 68, 61, 17, 0, 60, 90, 0 ], [ 68, 61, 30, 0, 60, 90, 0 ], [ 86, 49, 30, 0, 60, 90, 0 ], [ 86, 49, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|magenta|><|star|>\": 17, \"<|cyan|><|star|>\": 19, \"<|purple|><|cylinder|>\": 18}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 cyan 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|><|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|><|cyan|><|star|><|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|><|magenta|><|star|><|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|><|purple|><|cylinder|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|15-17|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|15-17|>\", 17, 0, 60, 90, 1]\nStep3: [\"<|15-17|>\", 17, 0, 60, 90, 0]\nStep4: [\"<|15-17|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|12-21|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|12-21|>\", 23, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 77, 87, 30, 0, 60, 90, 1 ], [ 77, 87, 17, 0, 60, 90, 1 ], [ 77, 87, 17, 0, 60, 90, 0 ], [ 77, 87, 30, 0, 60, 90, 0 ], [ 53, 16, 30, 0, 60, 90, 0 ], [ 53, 16, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|red|><|container|>\": 19, \"<|white|><|moon|>\": 17, \"<|olive|><|triangular prism|>\": 17, \"<|navy|><|triangular prism|>\": 18, \"<|azure|><|triangular prism|>\": 17}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 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|><|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|><|red|><|container|><|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|><|olive|><|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|><|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|><|navy|><|triangular prism|><|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|><|white|><|moon|><|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|><|azure|><|triangular prism|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|21-19|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|21-19|>\", 17, 0, 60, 90, 1]\nStep3: [\"<|21-19|>\", 17, 0, 60, 90, 0]\nStep4: [\"<|21-19|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|4-13|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|4-13|>\", 19, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 86, 25, 30, 0, 60, 90, 1 ], [ 86, 25, 18, 0, 60, 90, 1 ], [ 86, 25, 18, 0, 60, 90, 0 ], [ 86, 25, 30, 0, 60, 90, 0 ], [ 75, 25, 30, 0, 60, 90, 0 ], [ 75, 25, 17, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|azure|><|container|>\": 17, \"<|violet|><|triangular prism|>\": 17, \"<|purple|><|triangular prism|>\": 17, \"<|rose|><|cube|>\": 18}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 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|><|azure|><|container|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|rose|><|cube|><|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|><|purple|><|triangular prism|><|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|><|violet|><|triangular prism|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|6-21|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|6-21|>\", 18, 0, 60, 90, 1]\nStep3: [\"<|6-21|>\", 18, 0, 60, 90, 0]\nStep4: [\"<|6-21|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|6-18|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|6-18|>\", 17, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 64, 39, 30, 0, 60, 90, 1 ], [ 64, 39, 18, 0, 60, 90, 1 ], [ 64, 39, 18, 0, 60, 90, 0 ], [ 64, 39, 30, 0, 60, 90, 0 ], [ 68, 69, 30, 0, 60, 90, 0 ], [ 68, 69, 17, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|white|><|container|>\": 17, \"<|maroon|><|cylinder|>\": 17, \"<|magenta|><|moon|>\": 18, \"<|azure|><|triangular prism|>\": 18}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 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|><|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|><|magenta|><|moon|><|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|><|maroon|><|cylinder|><|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|><|white|><|container|><|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|><|azure|><|triangular prism|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|9-16|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|9-16|>\", 18, 0, 60, 90, 1]\nStep3: [\"<|9-16|>\", 18, 0, 60, 90, 0]\nStep4: [\"<|9-16|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|17-17|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|17-17|>\", 17, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 76, 77, 30, 0, 60, 90, 1 ], [ 76, 77, 17, 0, 60, 90, 1 ], [ 76, 77, 17, 0, 60, 90, 0 ], [ 76, 77, 30, 0, 60, 90, 0 ], [ 40, 28, 30, 0, 60, 90, 0 ], [ 40, 28, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|red|><|cylinder|>\": 17, \"<|gray|><|cube|>\": 18, \"<|red|><|cube|>\": 17, \"<|violet|><|triangular prism|>\": 17}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 violet 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|><|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|><|red|><|cylinder|><|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|><|violet|><|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|><|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|><|gray|><|cube|><|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|><|red|><|cube|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|19-19|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|19-19|>\", 17, 0, 60, 90, 1]\nStep3: [\"<|19-19|>\", 17, 0, 60, 90, 0]\nStep4: [\"<|19-19|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|7-10|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|7-10|>\", 21, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 54, 28, 30, 0, 60, 90, 1 ], [ 54, 28, 17, 0, 60, 90, 1 ], [ 54, 28, 17, 0, 60, 90, 0 ], [ 54, 28, 30, 0, 60, 90, 0 ], [ 40, 11, 30, 0, 60, 90, 0 ], [ 40, 11, 22, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|green|><|moon|>\": 17, \"<|white|><|cylinder|>\": 17, \"<|cyan|><|star|>\": 17, \"<|maroon|><|cylinder|>\": 18}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 cylinder 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|><|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|><|maroon|><|cylinder|><|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|><|white|><|cylinder|><|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|><|green|><|moon|><|11-10|><|cyan|><|star|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|7-13|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|7-13|>\", 17, 0, 60, 90, 1]\nStep3: [\"<|7-13|>\", 17, 0, 60, 90, 0]\nStep4: [\"<|7-13|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|2-10|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|2-10|>\", 22, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 38, 42, 30, 0, 60, 90, 1 ], [ 38, 42, 17, 0, 60, 90, 1 ], [ 38, 42, 17, 0, 60, 90, 0 ], [ 38, 42, 30, 0, 60, 90, 0 ], [ 41, 14, 30, 0, 60, 90, 0 ], [ 41, 14, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|violet|><|cylinder|>\": 17, \"<|purple|><|star|>\": 18, \"<|white|><|star|>\": 18, \"<|white|><|cube|>\": 17, \"<|red|><|star|>\": 18}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 on top of the white 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|><|white|><|cube|><|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|><|violet|><|cylinder|><|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|><|purple|><|star|><|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|><|white|><|star|><|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|><|red|><|star|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|10-9|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|10-9|>\", 17, 0, 60, 90, 1]\nStep3: [\"<|10-9|>\", 17, 0, 60, 90, 0]\nStep4: [\"<|10-9|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|3-10|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|3-10|>\", 21, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 73, 49, 30, 0, 60, 90, 1 ], [ 73, 49, 17, 0, 60, 90, 1 ], [ 73, 49, 17, 0, 60, 90, 0 ], [ 73, 49, 30, 0, 60, 90, 0 ], [ 17, 49, 30, 0, 60, 90, 0 ], [ 17, 49, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|blue|><|cube|>\": 18, \"<|white|><|triangular prism|>\": 18, \"<|maroon|><|moon|>\": 17, \"<|maroon|><|cube|>\": 17, \"<|gray|><|container|>\": 19}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 gray 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|><|maroon|><|moon|><|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|><|white|><|triangular prism|><|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|><|blue|><|cube|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|gray|><|container|><|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|><|maroon|><|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|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|12-18|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|12-18|>\", 17, 0, 60, 90, 1]\nStep3: [\"<|12-18|>\", 17, 0, 60, 90, 0]\nStep4: [\"<|12-18|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|12-4|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|12-4|>\", 19, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 46, 61, 30, 0, 60, 90, 1 ], [ 46, 61, 18, 0, 60, 90, 1 ], [ 46, 61, 18, 0, 60, 90, 0 ], [ 46, 61, 30, 0, 60, 90, 0 ], [ 88, 36, 30, 0, 60, 90, 0 ], [ 88, 36, 22, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|teal|><|cylinder|>\": 18, \"<|silver|><|star|>\": 18, \"<|magenta|><|star|>\": 18, \"<|navy|><|cube|>\": 18, \"<|gray|><|triangular prism|>\": 18}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 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|><|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|><|navy|><|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|><|magenta|><|star|><|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|><|teal|><|cylinder|><|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|><|gray|><|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|><|empty|><|20-11|><|silver|><|star|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|15-11|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|15-11|>\", 18, 0, 60, 90, 1]\nStep3: [\"<|15-11|>\", 18, 0, 60, 90, 0]\nStep4: [\"<|15-11|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|9-22|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|9-22|>\", 22, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 86, 44, 30, 0, 60, 90, 1 ], [ 86, 44, 18, 0, 60, 90, 1 ], [ 86, 44, 18, 0, 60, 90, 0 ], [ 86, 44, 30, 0, 60, 90, 0 ], [ 58, 33, 30, 0, 60, 90, 0 ], [ 58, 33, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|olive|><|cylinder|>\": 18, \"<|black|><|cylinder|>\": 18, \"<|azure|><|container|>\": 18}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 black 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|><|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|><|olive|><|cylinder|><|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|><|azure|><|container|><|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|><|black|><|cylinder|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|11-21|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|11-21|>\", 18, 0, 60, 90, 1]\nStep3: [\"<|11-21|>\", 18, 0, 60, 90, 0]\nStep4: [\"<|11-21|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|8-14|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|8-14|>\", 18, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 72, 58, 30, 0, 60, 90, 1 ], [ 72, 58, 18, 0, 60, 90, 1 ], [ 72, 58, 18, 0, 60, 90, 0 ], [ 72, 58, 30, 0, 60, 90, 0 ], [ 11, 81, 30, 0, 60, 90, 0 ], [ 11, 81, 22, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|navy|><|star|>\": 18, \"<|cyan|><|cube|>\": 17, \"<|olive|><|star|>\": 18}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 star on top of the olive 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|><|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|><|navy|><|star|><|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|><|cyan|><|cube|><|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|><|olive|><|star|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|14-18|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|14-18|>\", 18, 0, 60, 90, 1]\nStep3: [\"<|14-18|>\", 18, 0, 60, 90, 0]\nStep4: [\"<|14-18|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|20-2|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|20-2|>\", 22, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 63, 84, 30, 0, 60, 90, 1 ], [ 63, 84, 17, 0, 60, 90, 1 ], [ 63, 84, 17, 0, 60, 90, 0 ], [ 63, 84, 30, 0, 60, 90, 0 ], [ 27, 62, 30, 0, 60, 90, 0 ], [ 27, 62, 22, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|black|><|triangular prism|>\": 17, \"<|rose|><|moon|>\": 18, \"<|black|><|cylinder|>\": 17}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 triangular prism on top of the rose 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|><|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|><|black|><|cylinder|><|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|><|rose|><|moon|><|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|><|black|><|triangular prism|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|21-15|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|21-15|>\", 17, 0, 60, 90, 1]\nStep3: [\"<|21-15|>\", 17, 0, 60, 90, 0]\nStep4: [\"<|21-15|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|15-6|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|15-6|>\", 22, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 79, 65, 30, 0, 60, 90, 1 ], [ 79, 65, 17, 0, 60, 90, 1 ], [ 79, 65, 17, 0, 60, 90, 0 ], [ 79, 65, 30, 0, 60, 90, 0 ], [ 28, 13, 30, 0, 60, 90, 0 ], [ 28, 13, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|olive|><|triangular prism|>\": 17, \"<|yellow|><|cube|>\": 17, \"<|lime|><|cylinder|>\": 17, \"<|navy|><|container|>\": 19, \"<|blue|><|cube|>\": 18}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 cube 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|><|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|><|navy|><|container|><|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|><|blue|><|cube|><|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|><|yellow|><|cube|><|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|><|olive|><|triangular prism|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|lime|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|16-19|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|16-19|>\", 17, 0, 60, 90, 1]\nStep3: [\"<|16-19|>\", 17, 0, 60, 90, 0]\nStep4: [\"<|16-19|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|3-7|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|3-7|>\", 19, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 39, 28, 30, 0, 60, 90, 1 ], [ 39, 28, 18, 0, 60, 90, 1 ], [ 39, 28, 18, 0, 60, 90, 0 ], [ 39, 28, 30, 0, 60, 90, 0 ], [ 40, 34, 30, 0, 60, 90, 0 ], [ 40, 34, 17, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|magenta|><|triangular prism|>\": 17, \"<|purple|><|container|>\": 17, \"<|blue|><|moon|>\": 17, \"<|navy|><|cube|>\": 18, \"<|purple|><|cube|>\": 18}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 cube 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|><|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|><|purple|><|cube|><|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|><|purple|><|container|><|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|><|navy|><|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|><|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|><|blue|><|moon|><|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|><|magenta|><|triangular prism|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|7-9|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|7-9|>\", 18, 0, 60, 90, 1]\nStep3: [\"<|7-9|>\", 18, 0, 60, 90, 0]\nStep4: [\"<|7-9|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|8-10|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|8-10|>\", 17, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 55, 57, 30, 0, 60, 90, 1 ], [ 55, 57, 18, 0, 60, 90, 1 ], [ 55, 57, 18, 0, 60, 90, 0 ], [ 55, 57, 30, 0, 60, 90, 0 ], [ 51, 19, 30, 0, 60, 90, 0 ], [ 51, 19, 22, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|red|><|star|>\": 18, \"<|green|><|moon|>\": 18, \"<|rose|><|cube|>\": 17}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 red 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|><|red|><|star|><|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|><|green|><|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|><|rose|><|cube|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|14-13|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|14-13|>\", 18, 0, 60, 90, 1]\nStep3: [\"<|14-13|>\", 18, 0, 60, 90, 0]\nStep4: [\"<|14-13|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|4-12|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|4-12|>\", 22, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 30, 48, 30, 0, 60, 90, 1 ], [ 30, 48, 17, 0, 60, 90, 1 ], [ 30, 48, 17, 0, 60, 90, 0 ], [ 30, 48, 30, 0, 60, 90, 0 ], [ 87, 11, 30, 0, 60, 90, 0 ], [ 87, 11, 22, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|azure|><|triangular prism|>\": 17, \"<|blue|><|moon|>\": 17, \"<|gray|><|star|>\": 18, \"<|magenta|><|cube|>\": 18}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 triangular prism on top of the gray 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|><|gray|><|star|><|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|><|magenta|><|cube|><|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|><|azure|><|triangular prism|><|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|><|blue|><|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|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|12-7|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|12-7|>\", 17, 0, 60, 90, 1]\nStep3: [\"<|12-7|>\", 17, 0, 60, 90, 0]\nStep4: [\"<|12-7|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|2-21|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|2-21|>\", 22, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 41, 44, 30, 0, 60, 90, 1 ], [ 41, 44, 18, 0, 60, 90, 1 ], [ 41, 44, 18, 0, 60, 90, 0 ], [ 41, 44, 30, 0, 60, 90, 0 ], [ 79, 49, 30, 0, 60, 90, 0 ], [ 79, 49, 17, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|violet|><|container|>\": 17, \"<|lime|><|cube|>\": 18, \"<|silver|><|triangular prism|>\": 17}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 lime 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|><|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|><|lime|><|cube|><|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|><|silver|><|triangular prism|><|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|><|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|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|11-10|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|11-10|>\", 18, 0, 60, 90, 1]\nStep3: [\"<|11-10|>\", 18, 0, 60, 90, 0]\nStep4: [\"<|11-10|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|12-19|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|12-19|>\", 17, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 53, 72, 30, 0, 60, 90, 1 ], [ 53, 72, 18, 0, 60, 90, 1 ], [ 53, 72, 18, 0, 60, 90, 0 ], [ 53, 72, 30, 0, 60, 90, 0 ], [ 81, 45, 30, 0, 60, 90, 0 ], [ 81, 45, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|blue|><|moon|>\": 18, \"<|white|><|triangular prism|>\": 18, \"<|navy|><|star|>\": 19}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 triangular prism on top of the navy 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|><|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|><|navy|><|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|><|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|><|white|><|triangular prism|><|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|><|blue|><|moon|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|18-13|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|18-13|>\", 18, 0, 60, 90, 1]\nStep3: [\"<|18-13|>\", 18, 0, 60, 90, 0]\nStep4: [\"<|18-13|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|11-20|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|11-20|>\", 23, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 32, 63, 30, 0, 60, 90, 1 ], [ 32, 63, 18, 0, 60, 90, 1 ], [ 32, 63, 18, 0, 60, 90, 0 ], [ 32, 63, 30, 0, 60, 90, 0 ], [ 48, 41, 30, 0, 60, 90, 0 ], [ 48, 41, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|black|><|cylinder|>\": 18, \"<|teal|><|cube|>\": 17, \"<|rose|><|moon|>\": 18, \"<|lime|><|container|>\": 18}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 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|><|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|><|teal|><|cube|><|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|><|lime|><|container|><|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|><|black|><|cylinder|><|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|><|rose|><|moon|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|15-8|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|15-8|>\", 18, 0, 60, 90, 1]\nStep3: [\"<|15-8|>\", 18, 0, 60, 90, 0]\nStep4: [\"<|15-8|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|10-12|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|10-12|>\", 18, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 81, 31, 30, 0, 60, 90, 1 ], [ 81, 31, 18, 0, 60, 90, 1 ], [ 81, 31, 18, 0, 60, 90, 0 ], [ 81, 31, 30, 0, 60, 90, 0 ], [ 56, 61, 30, 0, 60, 90, 0 ], [ 56, 61, 17, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|gray|><|cube|>\": 18, \"<|yellow|><|cylinder|>\": 18, \"<|lime|><|star|>\": 17, \"<|lime|><|container|>\": 17, \"<|magenta|><|triangular prism|>\": 18}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 triangular prism 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|><|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|><|magenta|><|triangular prism|><|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|><|yellow|><|cylinder|><|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|><|lime|><|star|><|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|><|lime|><|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|><|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|><|gray|><|cube|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|7-20|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|7-20|>\", 18, 0, 60, 90, 1]\nStep3: [\"<|7-20|>\", 18, 0, 60, 90, 0]\nStep4: [\"<|7-20|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|15-14|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|15-14|>\", 17, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 66, 79, 30, 0, 60, 90, 1 ], [ 66, 79, 18, 0, 60, 90, 1 ], [ 66, 79, 18, 0, 60, 90, 0 ], [ 66, 79, 30, 0, 60, 90, 0 ], [ 20, 69, 30, 0, 60, 90, 0 ], [ 20, 69, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|purple|><|moon|>\": 17, \"<|cyan|><|moon|>\": 17, \"<|magenta|><|cylinder|>\": 17, \"<|lime|><|cube|>\": 17, \"<|yellow|><|star|>\": 18}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 magenta 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|><|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|><|purple|><|moon|><|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|><|cyan|><|moon|><|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|><|lime|><|cube|><|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|><|magenta|><|cylinder|><|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|><|yellow|><|star|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|19-16|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|19-16|>\", 18, 0, 60, 90, 1]\nStep3: [\"<|19-16|>\", 18, 0, 60, 90, 0]\nStep4: [\"<|19-16|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|17-5|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|17-5|>\", 21, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 76, 22, 30, 0, 60, 90, 1 ], [ 76, 22, 18, 0, 60, 90, 1 ], [ 76, 22, 18, 0, 60, 90, 0 ], [ 76, 22, 30, 0, 60, 90, 0 ], [ 39, 78, 30, 0, 60, 90, 0 ], [ 39, 78, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|maroon|><|cylinder|>\": 17, \"<|green|><|cylinder|>\": 18, \"<|purple|><|star|>\": 17, \"<|olive|><|cylinder|>\": 18}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 purple 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|><|olive|><|cylinder|><|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|><|purple|><|star|><|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|><|green|><|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|><|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|><|maroon|><|cylinder|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|5-19|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|5-19|>\", 18, 0, 60, 90, 1]\nStep3: [\"<|5-19|>\", 18, 0, 60, 90, 0]\nStep4: [\"<|5-19|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|19-9|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|19-9|>\", 21, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 54, 66, 30, 0, 60, 90, 1 ], [ 54, 66, 18, 0, 60, 90, 1 ], [ 54, 66, 18, 0, 60, 90, 0 ], [ 54, 66, 30, 0, 60, 90, 0 ], [ 79, 30, 30, 0, 60, 90, 0 ], [ 79, 30, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|lime|><|cylinder|>\": 18, \"<|lime|><|triangular prism|>\": 17, \"<|magenta|><|moon|>\": 18, \"<|gray|><|cube|>\": 18, \"<|yellow|><|star|>\": 17}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 moon on top of the lime 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|><|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|><|lime|><|triangular prism|><|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|><|gray|><|cube|><|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|><|magenta|><|moon|><|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|><|lime|><|cylinder|><|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|><|yellow|><|star|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|16-13|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|16-13|>\", 18, 0, 60, 90, 1]\nStep3: [\"<|16-13|>\", 18, 0, 60, 90, 0]\nStep4: [\"<|16-13|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|7-19|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|7-19|>\", 21, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 55, 31, 30, 0, 60, 90, 1 ], [ 55, 31, 17, 0, 60, 90, 1 ], [ 55, 31, 17, 0, 60, 90, 0 ], [ 55, 31, 30, 0, 60, 90, 0 ], [ 33, 33, 30, 0, 60, 90, 0 ], [ 33, 33, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|gray|><|triangular prism|>\": 17, \"<|magenta|><|moon|>\": 17, \"<|rose|><|cylinder|>\": 17, \"<|green|><|cylinder|>\": 18, \"<|maroon|><|triangular prism|>\": 18}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 gray 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|><|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|><|maroon|><|triangular prism|><|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|><|rose|><|cylinder|><|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|><|gray|><|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|><|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|><|magenta|><|moon|><|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|><|green|><|cylinder|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|7-13|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|7-13|>\", 17, 0, 60, 90, 1]\nStep3: [\"<|7-13|>\", 17, 0, 60, 90, 0]\nStep4: [\"<|7-13|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|8-8|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|8-8|>\", 21, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 34, 24, 30, 0, 60, 90, 1 ], [ 34, 24, 17, 0, 60, 90, 1 ], [ 34, 24, 17, 0, 60, 90, 0 ], [ 34, 24, 30, 0, 60, 90, 0 ], [ 43, 32, 30, 0, 60, 90, 0 ], [ 43, 32, 22, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|black|><|cylinder|>\": 18, \"<|rose|><|cube|>\": 18, \"<|white|><|star|>\": 17, \"<|purple|><|cube|>\": 17}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 purple cube on top of the rose 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|><|purple|><|cube|><|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|><|rose|><|cube|><|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|><|white|><|star|><|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|><|black|><|cylinder|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|6-8|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|6-8|>\", 17, 0, 60, 90, 1]\nStep3: [\"<|6-8|>\", 17, 0, 60, 90, 0]\nStep4: [\"<|6-8|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|8-10|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|8-10|>\", 22, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 59, 24, 30, 0, 60, 90, 1 ], [ 59, 24, 18, 0, 60, 90, 1 ], [ 59, 24, 18, 0, 60, 90, 0 ], [ 59, 24, 30, 0, 60, 90, 0 ], [ 39, 79, 30, 0, 60, 90, 0 ], [ 39, 79, 17, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|violet|><|cube|>\": 18, \"<|silver|><|star|>\": 18, \"<|magenta|><|container|>\": 17, \"<|white|><|cylinder|>\": 17, \"<|olive|><|triangular prism|>\": 17}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 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|><|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|><|violet|><|cube|><|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|><|white|><|cylinder|><|11-13|><|olive|><|triangular prism|><|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|><|silver|><|star|><|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|><|magenta|><|container|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|6-14|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|6-14|>\", 18, 0, 60, 90, 1]\nStep3: [\"<|6-14|>\", 18, 0, 60, 90, 0]\nStep4: [\"<|6-14|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|19-9|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|19-9|>\", 17, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 57, 27, 30, 0, 60, 90, 1 ], [ 57, 27, 17, 0, 60, 90, 1 ], [ 57, 27, 17, 0, 60, 90, 0 ], [ 57, 27, 30, 0, 60, 90, 0 ], [ 75, 44, 30, 0, 60, 90, 0 ], [ 75, 44, 22, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|azure|><|moon|>\": 18, \"<|silver|><|triangular prism|>\": 17, \"<|white|><|cube|>\": 18, \"<|red|><|cylinder|>\": 18}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 triangular prism on top of the red 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|><|silver|><|triangular prism|><|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|><|red|><|cylinder|><|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|><|azure|><|moon|><|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|><|white|><|cube|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|6-14|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|6-14|>\", 17, 0, 60, 90, 1]\nStep3: [\"<|6-14|>\", 17, 0, 60, 90, 0]\nStep4: [\"<|6-14|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|11-18|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|11-18|>\", 22, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 60, 86, 30, 0, 60, 90, 1 ], [ 60, 86, 17, 0, 60, 90, 1 ], [ 60, 86, 17, 0, 60, 90, 0 ], [ 60, 86, 30, 0, 60, 90, 0 ], [ 65, 13, 30, 0, 60, 90, 0 ], [ 65, 13, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|navy|><|cylinder|>\": 18, \"<|green|><|cylinder|>\": 17, \"<|magenta|><|moon|>\": 18, \"<|silver|><|cylinder|>\": 19}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 cylinder on top of the silver 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|><|silver|><|cylinder|><|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|><|navy|><|cylinder|><|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|><|magenta|><|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|><|green|><|cylinder|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|21-15|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|21-15|>\", 17, 0, 60, 90, 1]\nStep3: [\"<|21-15|>\", 17, 0, 60, 90, 0]\nStep4: [\"<|21-15|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|3-16|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|3-16|>\", 23, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 28, 50, 30, 0, 60, 90, 1 ], [ 28, 50, 18, 0, 60, 90, 1 ], [ 28, 50, 18, 0, 60, 90, 0 ], [ 28, 50, 30, 0, 60, 90, 0 ], [ 49, 86, 30, 0, 60, 90, 0 ], [ 49, 86, 17, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|silver|><|triangular prism|>\": 18, \"<|maroon|><|moon|>\": 18, \"<|teal|><|container|>\": 17, \"<|white|><|triangular prism|>\": 18, \"<|green|><|triangular prism|>\": 18}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 triangular prism 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|><|white|><|triangular prism|><|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|><|maroon|><|moon|><|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|><|green|><|triangular prism|><|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|><|teal|><|container|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|silver|><|triangular prism|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|12-7|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|12-7|>\", 18, 0, 60, 90, 1]\nStep3: [\"<|12-7|>\", 18, 0, 60, 90, 0]\nStep4: [\"<|12-7|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|21-12|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|21-12|>\", 17, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 70, 29, 30, 0, 60, 90, 1 ], [ 70, 29, 17, 0, 60, 90, 1 ], [ 70, 29, 17, 0, 60, 90, 0 ], [ 70, 29, 30, 0, 60, 90, 0 ], [ 45, 41, 30, 0, 60, 90, 0 ], [ 45, 41, 17, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|azure|><|container|>\": 17, \"<|green|><|triangular prism|>\": 18, \"<|red|><|cube|>\": 18, \"<|violet|><|star|>\": 17}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 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|><|violet|><|star|><|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|><|red|><|cube|><|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|><|azure|><|container|><|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|><|green|><|triangular prism|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|7-17|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|7-17|>\", 17, 0, 60, 90, 1]\nStep3: [\"<|7-17|>\", 17, 0, 60, 90, 0]\nStep4: [\"<|7-17|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|10-11|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|10-11|>\", 17, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 35, 75, 30, 0, 60, 90, 1 ], [ 35, 75, 18, 0, 60, 90, 1 ], [ 35, 75, 18, 0, 60, 90, 0 ], [ 35, 75, 30, 0, 60, 90, 0 ], [ 73, 75, 30, 0, 60, 90, 0 ], [ 73, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|purple|><|triangular prism|>\": 17, \"<|teal|><|star|>\": 17, \"<|gray|><|cube|>\": 17, \"<|silver|><|star|>\": 18}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 star 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|><|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|><|teal|><|star|><|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|><|silver|><|star|><|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|><|purple|><|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|><|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|><|gray|><|cube|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|18-8|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|18-8|>\", 18, 0, 60, 90, 1]\nStep3: [\"<|18-8|>\", 18, 0, 60, 90, 0]\nStep4: [\"<|18-8|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|18-18|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|18-18|>\", 21, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 41, 51, 30, 0, 60, 90, 1 ], [ 41, 51, 18, 0, 60, 90, 1 ], [ 41, 51, 18, 0, 60, 90, 0 ], [ 41, 51, 30, 0, 60, 90, 0 ], [ 75, 66, 30, 0, 60, 90, 0 ], [ 75, 66, 22, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|violet|><|triangular prism|>\": 18, \"<|red|><|moon|>\": 17, \"<|red|><|star|>\": 18, \"<|maroon|><|cylinder|>\": 18, \"<|magenta|><|cube|>\": 18}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 triangular prism on top of the red 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|><|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|><|red|><|moon|><|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|><|magenta|><|cube|><|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|><|violet|><|triangular prism|><|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|><|red|><|star|><|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|><|maroon|><|cylinder|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|12-10|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|12-10|>\", 18, 0, 60, 90, 1]\nStep3: [\"<|12-10|>\", 18, 0, 60, 90, 0]\nStep4: [\"<|12-10|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|16-18|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|16-18|>\", 22, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 55, 22, 30, 0, 60, 90, 1 ], [ 55, 22, 18, 0, 60, 90, 1 ], [ 55, 22, 18, 0, 60, 90, 0 ], [ 55, 22, 30, 0, 60, 90, 0 ], [ 41, 59, 30, 0, 60, 90, 0 ], [ 41, 59, 17, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|white|><|moon|>\": 18, \"<|navy|><|triangular prism|>\": 18, \"<|rose|><|triangular prism|>\": 18, \"<|olive|><|container|>\": 17}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 triangular prism 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|><|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|><|rose|><|triangular prism|><|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|><|white|><|moon|><|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|><|olive|><|container|><|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|><|navy|><|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|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|5-13|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|5-13|>\", 18, 0, 60, 90, 1]\nStep3: [\"<|5-13|>\", 18, 0, 60, 90, 0]\nStep4: [\"<|5-13|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|14-10|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|14-10|>\", 17, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 70, 62, 30, 0, 60, 90, 1 ], [ 70, 62, 17, 0, 60, 90, 1 ], [ 70, 62, 17, 0, 60, 90, 0 ], [ 70, 62, 30, 0, 60, 90, 0 ], [ 80, 76, 30, 0, 60, 90, 0 ], [ 80, 76, 17, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|white|><|star|>\": 18, \"<|azure|><|container|>\": 17, \"<|teal|><|star|>\": 17}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 teal 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|><|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|><|teal|><|star|><|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|><|azure|><|container|><|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|><|white|><|star|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|15-17|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|15-17|>\", 17, 0, 60, 90, 1]\nStep3: [\"<|15-17|>\", 17, 0, 60, 90, 0]\nStep4: [\"<|15-17|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|19-20|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|19-20|>\", 17, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 32, 51, 30, 0, 60, 90, 1 ], [ 32, 51, 18, 0, 60, 90, 1 ], [ 32, 51, 18, 0, 60, 90, 0 ], [ 32, 51, 30, 0, 60, 90, 0 ], [ 89, 47, 30, 0, 60, 90, 0 ], [ 89, 47, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|purple|><|cube|>\": 18, \"<|teal|><|cube|>\": 18, \"<|white|><|container|>\": 19}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 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|><|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|><|teal|><|cube|><|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|><|white|><|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|><|purple|><|cube|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|12-8|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|12-8|>\", 18, 0, 60, 90, 1]\nStep3: [\"<|12-8|>\", 18, 0, 60, 90, 0]\nStep4: [\"<|12-8|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|11-22|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|11-22|>\", 19, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 24, 89, 30, 0, 60, 90, 1 ], [ 24, 89, 18, 0, 60, 90, 1 ], [ 24, 89, 18, 0, 60, 90, 0 ], [ 24, 89, 30, 0, 60, 90, 0 ], [ 40, 65, 30, 0, 60, 90, 0 ], [ 40, 65, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|black|><|container|>\": 19, \"<|black|><|triangular prism|>\": 18, \"<|yellow|><|triangular prism|>\": 18, \"<|yellow|><|moon|>\": 17}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 black triangular prism 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|><|yellow|><|triangular prism|><|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|><|yellow|><|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|><|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|><|black|><|container|><|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|><|black|><|triangular prism|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|22-6|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|22-6|>\", 18, 0, 60, 90, 1]\nStep3: [\"<|22-6|>\", 18, 0, 60, 90, 0]\nStep4: [\"<|22-6|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|16-10|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|16-10|>\", 19, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 85, 62, 30, 0, 60, 90, 1 ], [ 85, 62, 18, 0, 60, 90, 1 ], [ 85, 62, 18, 0, 60, 90, 0 ], [ 85, 62, 30, 0, 60, 90, 0 ], [ 47, 58, 30, 0, 60, 90, 0 ], [ 47, 58, 22, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|lime|><|star|>\": 18, \"<|azure|><|cube|>\": 17, \"<|violet|><|cylinder|>\": 18, \"<|azure|><|triangular prism|>\": 18}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 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|><|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|><|azure|><|cube|><|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|><|violet|><|cylinder|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|lime|><|star|><|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|><|azure|><|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|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|15-21|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|15-21|>\", 18, 0, 60, 90, 1]\nStep3: [\"<|15-21|>\", 18, 0, 60, 90, 0]\nStep4: [\"<|15-21|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|14-11|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|14-11|>\", 22, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 34, 80, 30, 0, 60, 90, 1 ], [ 34, 80, 18, 0, 60, 90, 1 ], [ 34, 80, 18, 0, 60, 90, 0 ], [ 34, 80, 30, 0, 60, 90, 0 ], [ 39, 34, 30, 0, 60, 90, 0 ], [ 39, 34, 17, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|green|><|star|>\": 18, \"<|gray|><|moon|>\": 17, \"<|silver|><|container|>\": 17}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 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|><|silver|><|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|><|gray|><|moon|><|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|><|green|><|star|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|20-8|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|20-8|>\", 18, 0, 60, 90, 1]\nStep3: [\"<|20-8|>\", 18, 0, 60, 90, 0]\nStep4: [\"<|20-8|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|8-9|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|8-9|>\", 17, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 41, 37, 30, 0, 60, 90, 1 ], [ 41, 37, 17, 0, 60, 90, 1 ], [ 41, 37, 17, 0, 60, 90, 0 ], [ 41, 37, 30, 0, 60, 90, 0 ], [ 81, 43, 30, 0, 60, 90, 0 ], [ 81, 43, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|blue|><|cube|>\": 18, \"<|white|><|moon|>\": 17, \"<|green|><|star|>\": 17, \"<|yellow|><|cube|>\": 19, \"<|gray|><|cylinder|>\": 17}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 on top of the yellow 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|><|green|><|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|><|gray|><|cylinder|><|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|><|yellow|><|cube|><|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|><|white|><|moon|><|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|><|blue|><|cube|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|9-10|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|9-10|>\", 17, 0, 60, 90, 1]\nStep3: [\"<|9-10|>\", 17, 0, 60, 90, 0]\nStep4: [\"<|9-10|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|10-20|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|10-20|>\", 23, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 30, 67, 30, 0, 60, 90, 1 ], [ 30, 67, 17, 0, 60, 90, 1 ], [ 30, 67, 17, 0, 60, 90, 0 ], [ 30, 67, 30, 0, 60, 90, 0 ], [ 27, 84, 30, 0, 60, 90, 0 ], [ 27, 84, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|navy|><|cube|>\": 17, \"<|red|><|cylinder|>\": 18, \"<|violet|><|cylinder|>\": 17, \"<|magenta|><|triangular prism|>\": 19, \"<|green|><|moon|>\": 17}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 on top of the magenta 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|><|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|><|green|><|moon|><|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|><|violet|><|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|><|red|><|cylinder|><|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|><|navy|><|cube|><|21-6|><|magenta|><|triangular prism|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|16-7|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|16-7|>\", 17, 0, 60, 90, 1]\nStep3: [\"<|16-7|>\", 17, 0, 60, 90, 0]\nStep4: [\"<|16-7|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|21-6|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|21-6|>\", 23, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 62, 63, 30, 0, 60, 90, 1 ], [ 62, 63, 18, 0, 60, 90, 1 ], [ 62, 63, 18, 0, 60, 90, 0 ], [ 62, 63, 30, 0, 60, 90, 0 ], [ 37, 30, 30, 0, 60, 90, 0 ], [ 37, 30, 17, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|green|><|star|>\": 17, \"<|white|><|triangular prism|>\": 18, \"<|silver|><|container|>\": 17, \"<|cyan|><|cylinder|>\": 17}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 white triangular prism 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|><|green|><|star|><|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|><|silver|><|container|><|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|><|white|><|triangular prism|><|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|><|cyan|><|cylinder|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|15-15|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|15-15|>\", 18, 0, 60, 90, 1]\nStep3: [\"<|15-15|>\", 18, 0, 60, 90, 0]\nStep4: [\"<|15-15|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|7-9|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|7-9|>\", 17, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 81, 39, 30, 0, 60, 90, 1 ], [ 81, 39, 17, 0, 60, 90, 1 ], [ 81, 39, 17, 0, 60, 90, 0 ], [ 81, 39, 30, 0, 60, 90, 0 ], [ 49, 20, 30, 0, 60, 90, 0 ], [ 49, 20, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|yellow|><|container|>\": 19, \"<|cyan|><|star|>\": 17, \"<|navy|><|moon|>\": 17}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 moon 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|><|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|><|yellow|><|container|><|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|><|cyan|><|star|><|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|><|navy|><|moon|><|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|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|9-20|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|9-20|>\", 17, 0, 60, 90, 1]\nStep3: [\"<|9-20|>\", 17, 0, 60, 90, 0]\nStep4: [\"<|9-20|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|5-12|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|5-12|>\", 19, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 24, 66, 30, 0, 60, 90, 1 ], [ 24, 66, 17, 0, 60, 90, 1 ], [ 24, 66, 17, 0, 60, 90, 0 ], [ 24, 66, 30, 0, 60, 90, 0 ], [ 64, 44, 30, 0, 60, 90, 0 ], [ 64, 44, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|rose|><|cylinder|>\": 18, \"<|red|><|triangular prism|>\": 17, \"<|purple|><|cube|>\": 17}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 purple cube on top of the red 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|><|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|><|red|><|triangular prism|><|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|><|purple|><|cube|><|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|><|rose|><|cylinder|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|16-6|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|16-6|>\", 17, 0, 60, 90, 1]\nStep3: [\"<|16-6|>\", 17, 0, 60, 90, 0]\nStep4: [\"<|16-6|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|11-16|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|11-16|>\", 21, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 68, 54, 30, 0, 60, 90, 1 ], [ 68, 54, 17, 0, 60, 90, 1 ], [ 68, 54, 17, 0, 60, 90, 0 ], [ 68, 54, 30, 0, 60, 90, 0 ], [ 37, 16, 30, 0, 60, 90, 0 ], [ 37, 16, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|navy|><|star|>\": 17, \"<|maroon|><|cube|>\": 19, \"<|teal|><|cylinder|>\": 17, \"<|rose|><|star|>\": 18}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 star 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|><|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|><|maroon|><|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|><|teal|><|cylinder|><|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|><|rose|><|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|><|navy|><|star|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|13-17|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|13-17|>\", 17, 0, 60, 90, 1]\nStep3: [\"<|13-17|>\", 17, 0, 60, 90, 0]\nStep4: [\"<|13-17|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|4-9|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|4-9|>\", 23, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 29, 32, 30, 0, 60, 90, 1 ], [ 29, 32, 18, 0, 60, 90, 1 ], [ 29, 32, 18, 0, 60, 90, 0 ], [ 29, 32, 30, 0, 60, 90, 0 ], [ 69, 67, 30, 0, 60, 90, 0 ], [ 69, 67, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|gray|><|triangular prism|>\": 18, \"<|violet|><|triangular prism|>\": 18, \"<|silver|><|container|>\": 18}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 triangular prism 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|><|gray|><|triangular prism|><|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|><|violet|><|triangular prism|><|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|><|silver|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|8-7|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|8-7|>\", 18, 0, 60, 90, 1]\nStep3: [\"<|8-7|>\", 18, 0, 60, 90, 0]\nStep4: [\"<|8-7|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|16-17|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|16-17|>\", 18, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 55, 65, 30, 0, 60, 90, 1 ], [ 55, 65, 17, 0, 60, 90, 1 ], [ 55, 65, 17, 0, 60, 90, 0 ], [ 55, 65, 30, 0, 60, 90, 0 ], [ 80, 71, 30, 0, 60, 90, 0 ], [ 80, 71, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|red|><|moon|>\": 17, \"<|lime|><|container|>\": 19, \"<|navy|><|triangular prism|>\": 17}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 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|><|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|><|navy|><|triangular prism|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|red|><|moon|><|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|><|lime|><|container|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|16-13|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|16-13|>\", 17, 0, 60, 90, 1]\nStep3: [\"<|16-13|>\", 17, 0, 60, 90, 0]\nStep4: [\"<|16-13|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|17-20|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|17-20|>\", 19, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 32, 26, 30, 0, 60, 90, 1 ], [ 32, 26, 17, 0, 60, 90, 1 ], [ 32, 26, 17, 0, 60, 90, 0 ], [ 32, 26, 30, 0, 60, 90, 0 ], [ 84, 39, 30, 0, 60, 90, 0 ], [ 84, 39, 22, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|yellow|><|triangular prism|>\": 18, \"<|gray|><|triangular prism|>\": 17, \"<|magenta|><|triangular prism|>\": 18, \"<|olive|><|triangular prism|>\": 18, \"<|cyan|><|cylinder|>\": 18}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 triangular prism on top of the cyan 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|><|gray|><|triangular prism|><|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|><|cyan|><|cylinder|><|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|><|olive|><|triangular prism|><|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|><|yellow|><|triangular prism|><|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|><|magenta|><|triangular prism|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|6-8|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|6-8|>\", 17, 0, 60, 90, 1]\nStep3: [\"<|6-8|>\", 17, 0, 60, 90, 0]\nStep4: [\"<|6-8|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|9-21|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|9-21|>\", 22, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 82, 80, 30, 0, 60, 90, 1 ], [ 82, 80, 18, 0, 60, 90, 1 ], [ 82, 80, 18, 0, 60, 90, 0 ], [ 82, 80, 30, 0, 60, 90, 0 ], [ 35, 88, 30, 0, 60, 90, 0 ], [ 35, 88, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|navy|><|cylinder|>\": 18, \"<|silver|><|moon|>\": 17, \"<|red|><|cylinder|>\": 18, \"<|olive|><|cylinder|>\": 17, \"<|red|><|triangular prism|>\": 18}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 silver 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|><|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|><|navy|><|cylinder|><|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|><|olive|><|cylinder|><|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|><|red|><|triangular prism|><|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|><|red|><|cylinder|><|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|><|silver|><|moon|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|20-20|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|20-20|>\", 18, 0, 60, 90, 1]\nStep3: [\"<|20-20|>\", 18, 0, 60, 90, 0]\nStep4: [\"<|20-20|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|22-8|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|22-8|>\", 21, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 56, 36, 30, 0, 60, 90, 1 ], [ 56, 36, 18, 0, 60, 90, 1 ], [ 56, 36, 18, 0, 60, 90, 0 ], [ 56, 36, 30, 0, 60, 90, 0 ], [ 27, 84, 30, 0, 60, 90, 0 ], [ 27, 84, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|lime|><|triangular prism|>\": 18, \"<|navy|><|cube|>\": 18, \"<|gray|><|triangular prism|>\": 18, \"<|navy|><|moon|>\": 18, \"<|blue|><|cube|>\": 17}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 cube on top of the blue 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|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|navy|><|cube|><|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|><|lime|><|triangular prism|><|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|><|navy|><|moon|><|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|><|gray|><|triangular prism|><|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|><|blue|><|cube|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|9-14|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|9-14|>\", 18, 0, 60, 90, 1]\nStep3: [\"<|9-14|>\", 18, 0, 60, 90, 0]\nStep4: [\"<|9-14|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|21-6|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|21-6|>\", 21, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 62, 58, 30, 0, 60, 90, 1 ], [ 62, 58, 18, 0, 60, 90, 1 ], [ 62, 58, 18, 0, 60, 90, 0 ], [ 62, 58, 30, 0, 60, 90, 0 ], [ 20, 16, 30, 0, 60, 90, 0 ], [ 20, 16, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|black|><|moon|>\": 18, \"<|magenta|><|triangular prism|>\": 18, \"<|lime|><|cylinder|>\": 18, \"<|navy|><|container|>\": 19, \"<|magenta|><|star|>\": 18}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 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|><|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|><|navy|><|container|><|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|><|lime|><|cylinder|><|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|><|magenta|><|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|><|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|><|black|><|moon|><|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|><|magenta|><|star|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|14-15|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|14-15|>\", 18, 0, 60, 90, 1]\nStep3: [\"<|14-15|>\", 18, 0, 60, 90, 0]\nStep4: [\"<|14-15|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|4-5|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|4-5|>\", 19, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 78, 29, 30, 0, 60, 90, 1 ], [ 78, 29, 17, 0, 60, 90, 1 ], [ 78, 29, 17, 0, 60, 90, 0 ], [ 78, 29, 30, 0, 60, 90, 0 ], [ 18, 88, 30, 0, 60, 90, 0 ], [ 18, 88, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|maroon|><|cube|>\": 17, \"<|violet|><|star|>\": 18, \"<|yellow|><|container|>\": 19}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 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|><|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|><|maroon|><|cube|><|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|><|violet|><|star|><|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|><|yellow|><|container|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|7-19|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|7-19|>\", 17, 0, 60, 90, 1]\nStep3: [\"<|7-19|>\", 17, 0, 60, 90, 0]\nStep4: [\"<|7-19|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|22-4|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|22-4|>\", 19, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 66, 47, 30, 0, 60, 90, 1 ], [ 66, 47, 17, 0, 60, 90, 1 ], [ 66, 47, 17, 0, 60, 90, 0 ], [ 66, 47, 30, 0, 60, 90, 0 ], [ 50, 31, 30, 0, 60, 90, 0 ], [ 50, 31, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|red|><|container|>\": 18, \"<|red|><|star|>\": 17, \"<|purple|><|cylinder|>\": 17}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 star 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|><|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|><|red|><|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|><|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|><|red|><|star|><|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|><|purple|><|cylinder|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|11-16|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|11-16|>\", 17, 0, 60, 90, 1]\nStep3: [\"<|11-16|>\", 17, 0, 60, 90, 0]\nStep4: [\"<|11-16|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|7-12|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|7-12|>\", 18, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 20, 49, 30, 0, 60, 90, 1 ], [ 20, 49, 17, 0, 60, 90, 1 ], [ 20, 49, 17, 0, 60, 90, 0 ], [ 20, 49, 30, 0, 60, 90, 0 ], [ 18, 20, 30, 0, 60, 90, 0 ], [ 18, 20, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|olive|><|container|>\": 19, \"<|white|><|triangular prism|>\": 18, \"<|teal|><|moon|>\": 17}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 teal 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|><|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|><|olive|><|container|><|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|><|white|><|triangular prism|><|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|><|teal|><|moon|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|12-5|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|12-5|>\", 17, 0, 60, 90, 1]\nStep3: [\"<|12-5|>\", 17, 0, 60, 90, 0]\nStep4: [\"<|12-5|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|5-4|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|5-4|>\", 19, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 29, 45, 30, 0, 60, 90, 1 ], [ 29, 45, 17, 0, 60, 90, 1 ], [ 29, 45, 17, 0, 60, 90, 0 ], [ 29, 45, 30, 0, 60, 90, 0 ], [ 43, 43, 30, 0, 60, 90, 0 ], [ 43, 43, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|black|><|triangular prism|>\": 18, \"<|purple|><|star|>\": 17, \"<|black|><|star|>\": 17, \"<|gray|><|cube|>\": 17}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 purple star on top of the gray 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|><|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|><|gray|><|cube|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|black|><|triangular prism|><|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|><|purple|><|star|><|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|><|black|><|star|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|11-7|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|11-7|>\", 17, 0, 60, 90, 1]\nStep3: [\"<|11-7|>\", 17, 0, 60, 90, 0]\nStep4: [\"<|11-7|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|10-10|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|10-10|>\", 21, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 41, 32, 30, 0, 60, 90, 1 ], [ 41, 32, 17, 0, 60, 90, 1 ], [ 41, 32, 17, 0, 60, 90, 0 ], [ 41, 32, 30, 0, 60, 90, 0 ], [ 18, 71, 30, 0, 60, 90, 0 ], [ 18, 71, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|black|><|triangular prism|>\": 17, \"<|gray|><|moon|>\": 17, \"<|violet|><|cylinder|>\": 17}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 on top of the black 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|><|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|><|violet|><|cylinder|><|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|><|gray|><|moon|><|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|><|black|><|triangular prism|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|8-10|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|8-10|>\", 17, 0, 60, 90, 1]\nStep3: [\"<|8-10|>\", 17, 0, 60, 90, 0]\nStep4: [\"<|8-10|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|17-4|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|17-4|>\", 21, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 41, 32, 30, 0, 60, 90, 1 ], [ 41, 32, 17, 0, 60, 90, 1 ], [ 41, 32, 17, 0, 60, 90, 0 ], [ 41, 32, 30, 0, 60, 90, 0 ], [ 89, 26, 30, 0, 60, 90, 0 ], [ 89, 26, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|purple|><|cylinder|>\": 17, \"<|purple|><|container|>\": 18, \"<|yellow|><|cube|>\": 17}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 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|><|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|><|purple|><|container|><|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|><|purple|><|cylinder|><|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|><|yellow|><|cube|><|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|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|8-10|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|8-10|>\", 17, 0, 60, 90, 1]\nStep3: [\"<|8-10|>\", 17, 0, 60, 90, 0]\nStep4: [\"<|8-10|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|6-22|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|6-22|>\", 18, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 48, 40, 30, 0, 60, 90, 1 ], [ 48, 40, 18, 0, 60, 90, 1 ], [ 48, 40, 18, 0, 60, 90, 0 ], [ 48, 40, 30, 0, 60, 90, 0 ], [ 18, 27, 30, 0, 60, 90, 0 ], [ 18, 27, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|black|><|cylinder|>\": 18, \"<|white|><|cylinder|>\": 17, \"<|green|><|triangular prism|>\": 17, \"<|cyan|><|star|>\": 18, \"<|cyan|><|triangular prism|>\": 17}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 star on top of the green 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|><|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|><|green|><|triangular prism|><|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|><|cyan|><|triangular prism|><|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|><|cyan|><|star|><|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|><|white|><|cylinder|><|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|><|black|><|cylinder|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|10-12|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|10-12|>\", 18, 0, 60, 90, 1]\nStep3: [\"<|10-12|>\", 18, 0, 60, 90, 0]\nStep4: [\"<|10-12|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|6-4|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|6-4|>\", 21, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 90, 48, 30, 0, 60, 90, 1 ], [ 90, 48, 18, 0, 60, 90, 1 ], [ 90, 48, 18, 0, 60, 90, 0 ], [ 90, 48, 30, 0, 60, 90, 0 ], [ 37, 62, 30, 0, 60, 90, 0 ], [ 37, 62, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|gray|><|cylinder|>\": 18, \"<|azure|><|triangular prism|>\": 18, \"<|gray|><|cube|>\": 17}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 on top of the gray 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|><|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|><|azure|><|triangular prism|><|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|><|gray|><|cylinder|><|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|><|gray|><|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|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|12-22|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|12-22|>\", 18, 0, 60, 90, 1]\nStep3: [\"<|12-22|>\", 18, 0, 60, 90, 0]\nStep4: [\"<|12-22|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|15-9|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|15-9|>\", 21, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 53, 41, 30, 0, 60, 90, 1 ], [ 53, 41, 17, 0, 60, 90, 1 ], [ 53, 41, 17, 0, 60, 90, 0 ], [ 53, 41, 30, 0, 60, 90, 0 ], [ 76, 25, 30, 0, 60, 90, 0 ], [ 76, 25, 22, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|black|><|cube|>\": 17, \"<|rose|><|cube|>\": 18, \"<|black|><|triangular prism|>\": 18}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 black 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|><|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|><|black|><|triangular prism|><|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|><|black|><|cube|><|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|><|rose|><|cube|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|10-13|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|10-13|>\", 17, 0, 60, 90, 1]\nStep3: [\"<|10-13|>\", 17, 0, 60, 90, 0]\nStep4: [\"<|10-13|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|6-19|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|6-19|>\", 22, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 62, 85, 30, 0, 60, 90, 1 ], [ 62, 85, 17, 0, 60, 90, 1 ], [ 62, 85, 17, 0, 60, 90, 0 ], [ 62, 85, 30, 0, 60, 90, 0 ], [ 38, 58, 30, 0, 60, 90, 0 ], [ 38, 58, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|gray|><|triangular prism|>\": 18, \"<|cyan|><|star|>\": 18, \"<|violet|><|star|>\": 18, \"<|red|><|star|>\": 17, \"<|black|><|star|>\": 19}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 on top of the black 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|><|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|><|cyan|><|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|><|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|><|black|><|star|><|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|><|gray|><|triangular prism|><|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|><|red|><|star|><|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|><|violet|><|star|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|21-15|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|21-15|>\", 17, 0, 60, 90, 1]\nStep3: [\"<|21-15|>\", 17, 0, 60, 90, 0]\nStep4: [\"<|21-15|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|14-9|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|14-9|>\", 23, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 78, 38, 30, 0, 60, 90, 1 ], [ 78, 38, 17, 0, 60, 90, 1 ], [ 78, 38, 17, 0, 60, 90, 0 ], [ 78, 38, 30, 0, 60, 90, 0 ], [ 41, 14, 30, 0, 60, 90, 0 ], [ 41, 14, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|rose|><|moon|>\": 17, \"<|yellow|><|container|>\": 18, \"<|magenta|><|moon|>\": 17, \"<|lime|><|cube|>\": 17}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 moon 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|><|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|><|yellow|><|container|><|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|><|rose|><|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|><|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|><|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|><|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|><|magenta|><|moon|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|9-19|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|9-19|>\", 17, 0, 60, 90, 1]\nStep3: [\"<|9-19|>\", 17, 0, 60, 90, 0]\nStep4: [\"<|9-19|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|3-10|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|3-10|>\", 18, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 80, 52, 30, 0, 60, 90, 1 ], [ 80, 52, 17, 0, 60, 90, 1 ], [ 80, 52, 17, 0, 60, 90, 0 ], [ 80, 52, 30, 0, 60, 90, 0 ], [ 31, 83, 30, 0, 60, 90, 0 ], [ 31, 83, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|rose|><|moon|>\": 18, \"<|gray|><|star|>\": 17, \"<|rose|><|triangular prism|>\": 17, \"<|azure|><|container|>\": 19, \"<|lime|><|cube|>\": 17}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 lime 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|><|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|><|gray|><|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|><|lime|><|cube|><|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|><|rose|><|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|><|azure|><|container|><|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|><|rose|><|moon|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|13-20|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|13-20|>\", 17, 0, 60, 90, 1]\nStep3: [\"<|13-20|>\", 17, 0, 60, 90, 0]\nStep4: [\"<|13-20|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|20-7|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|20-7|>\", 19, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 42, 27, 30, 0, 60, 90, 1 ], [ 42, 27, 18, 0, 60, 90, 1 ], [ 42, 27, 18, 0, 60, 90, 0 ], [ 42, 27, 30, 0, 60, 90, 0 ], [ 30, 85, 30, 0, 60, 90, 0 ], [ 30, 85, 17, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|magenta|><|cube|>\": 18, \"<|azure|><|cylinder|>\": 17, \"<|maroon|><|moon|>\": 17, \"<|teal|><|triangular prism|>\": 18, \"<|purple|><|container|>\": 17}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 teal triangular prism 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|><|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|><|teal|><|triangular prism|><|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|><|magenta|><|cube|><|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|><|maroon|><|moon|><|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|><|azure|><|cylinder|><|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|><|purple|><|container|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|6-10|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|6-10|>\", 18, 0, 60, 90, 1]\nStep3: [\"<|6-10|>\", 18, 0, 60, 90, 0]\nStep4: [\"<|6-10|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|21-7|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|21-7|>\", 17, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 22, 68, 30, 0, 60, 90, 1 ], [ 22, 68, 17, 0, 60, 90, 1 ], [ 22, 68, 17, 0, 60, 90, 0 ], [ 22, 68, 30, 0, 60, 90, 0 ], [ 88, 68, 30, 0, 60, 90, 0 ], [ 88, 68, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|black|><|moon|>\": 17, \"<|white|><|star|>\": 17, \"<|olive|><|cylinder|>\": 17, \"<|purple|><|star|>\": 17}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 black 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|><|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|><|white|><|star|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|purple|><|star|><|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|><|olive|><|cylinder|><|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|><|black|><|moon|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|17-5|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|17-5|>\", 17, 0, 60, 90, 1]\nStep3: [\"<|17-5|>\", 17, 0, 60, 90, 0]\nStep4: [\"<|17-5|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|17-22|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|17-22|>\", 21, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 57, 39, 30, 0, 60, 90, 1 ], [ 57, 39, 18, 0, 60, 90, 1 ], [ 57, 39, 18, 0, 60, 90, 0 ], [ 57, 39, 30, 0, 60, 90, 0 ], [ 89, 54, 30, 0, 60, 90, 0 ], [ 89, 54, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|violet|><|cube|>\": 18, \"<|cyan|><|cylinder|>\": 18, \"<|azure|><|moon|>\": 19, \"<|blue|><|moon|>\": 18}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 cylinder on top of the azure 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|><|blue|><|moon|><|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|><|violet|><|cube|><|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|><|cyan|><|cylinder|><|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|><|azure|><|moon|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|9-14|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|9-14|>\", 18, 0, 60, 90, 1]\nStep3: [\"<|9-14|>\", 18, 0, 60, 90, 0]\nStep4: [\"<|9-14|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|13-22|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|13-22|>\", 23, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 88, 58, 30, 0, 60, 90, 1 ], [ 88, 58, 17, 0, 60, 90, 1 ], [ 88, 58, 17, 0, 60, 90, 0 ], [ 88, 58, 30, 0, 60, 90, 0 ], [ 45, 12, 30, 0, 60, 90, 0 ], [ 45, 12, 17, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|blue|><|triangular prism|>\": 18, \"<|yellow|><|cylinder|>\": 17, \"<|white|><|container|>\": 17}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 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|><|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|><|white|><|container|><|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|><|blue|><|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|><|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|><|yellow|><|cylinder|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|14-22|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|14-22|>\", 17, 0, 60, 90, 1]\nStep3: [\"<|14-22|>\", 17, 0, 60, 90, 0]\nStep4: [\"<|14-22|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|3-11|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|3-11|>\", 17, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 34, 70, 30, 0, 60, 90, 1 ], [ 34, 70, 18, 0, 60, 90, 1 ], [ 34, 70, 18, 0, 60, 90, 0 ], [ 34, 70, 30, 0, 60, 90, 0 ], [ 81, 19, 30, 0, 60, 90, 0 ], [ 81, 19, 22, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|maroon|><|star|>\": 17, \"<|maroon|><|cube|>\": 18, \"<|rose|><|cube|>\": 17, \"<|teal|><|moon|>\": 18, \"<|olive|><|cube|>\": 18}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 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|><|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|><|maroon|><|cube|><|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|><|maroon|><|star|><|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|><|rose|><|cube|><|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|><|olive|><|cube|><|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|><|teal|><|moon|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|17-8|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|17-8|>\", 18, 0, 60, 90, 1]\nStep3: [\"<|17-8|>\", 18, 0, 60, 90, 0]\nStep4: [\"<|17-8|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|4-20|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|4-20|>\", 22, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 73, 31, 30, 0, 60, 90, 1 ], [ 73, 31, 18, 0, 60, 90, 1 ], [ 73, 31, 18, 0, 60, 90, 0 ], [ 73, 31, 30, 0, 60, 90, 0 ], [ 59, 51, 30, 0, 60, 90, 0 ], [ 59, 51, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|red|><|moon|>\": 18, \"<|white|><|star|>\": 19, \"<|olive|><|cube|>\": 18}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 white 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|><|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|><|olive|><|cube|><|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|><|white|><|star|><|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|><|red|><|moon|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|7-18|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|7-18|>\", 18, 0, 60, 90, 1]\nStep3: [\"<|7-18|>\", 18, 0, 60, 90, 0]\nStep4: [\"<|7-18|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|12-14|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|12-14|>\", 23, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 67, 47, 30, 0, 60, 90, 1 ], [ 67, 47, 17, 0, 60, 90, 1 ], [ 67, 47, 17, 0, 60, 90, 0 ], [ 67, 47, 30, 0, 60, 90, 0 ], [ 11, 63, 30, 0, 60, 90, 0 ], [ 11, 63, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|olive|><|cube|>\": 19, \"<|red|><|star|>\": 18, \"<|yellow|><|star|>\": 17}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 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|><|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|><|yellow|><|star|><|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|><|olive|><|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|><|red|><|star|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|11-16|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|11-16|>\", 17, 0, 60, 90, 1]\nStep3: [\"<|11-16|>\", 17, 0, 60, 90, 0]\nStep4: [\"<|11-16|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|15-2|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|15-2|>\", 23, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 35, 44, 30, 0, 60, 90, 1 ], [ 35, 44, 18, 0, 60, 90, 1 ], [ 35, 44, 18, 0, 60, 90, 0 ], [ 35, 44, 30, 0, 60, 90, 0 ], [ 35, 56, 30, 0, 60, 90, 0 ], [ 35, 56, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|azure|><|cylinder|>\": 17, \"<|red|><|moon|>\": 18, \"<|rose|><|star|>\": 17}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 moon on top of the rose 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|><|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|><|azure|><|cylinder|><|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|><|red|><|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|><|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|><|rose|><|star|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|11-8|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|11-8|>\", 18, 0, 60, 90, 1]\nStep3: [\"<|11-8|>\", 18, 0, 60, 90, 0]\nStep4: [\"<|11-8|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|14-8|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|14-8|>\", 21, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 76, 82, 30, 0, 60, 90, 1 ], [ 76, 82, 18, 0, 60, 90, 1 ], [ 76, 82, 18, 0, 60, 90, 0 ], [ 76, 82, 30, 0, 60, 90, 0 ], [ 10, 67, 30, 0, 60, 90, 0 ], [ 10, 67, 17, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|violet|><|triangular prism|>\": 17, \"<|maroon|><|container|>\": 17, \"<|teal|><|moon|>\": 18}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 teal 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|><|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|><|violet|><|triangular prism|><|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|><|maroon|><|container|><|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|><|teal|><|moon|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|20-19|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|20-19|>\", 18, 0, 60, 90, 1]\nStep3: [\"<|20-19|>\", 18, 0, 60, 90, 0]\nStep4: [\"<|20-19|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|16-2|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|16-2|>\", 17, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 77, 62, 30, 0, 60, 90, 1 ], [ 77, 62, 17, 0, 60, 90, 1 ], [ 77, 62, 17, 0, 60, 90, 0 ], [ 77, 62, 30, 0, 60, 90, 0 ], [ 38, 68, 30, 0, 60, 90, 0 ], [ 38, 68, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|white|><|moon|>\": 18, \"<|navy|><|star|>\": 17, \"<|silver|><|triangular prism|>\": 17, \"<|azure|><|star|>\": 17, \"<|silver|><|moon|>\": 19}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 triangular prism on top of the silver 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|><|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|><|azure|><|star|><|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|><|silver|><|triangular prism|><|15-20|><|empty|><|15-21|><|white|><|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|><|silver|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|15-19|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|15-19|>\", 17, 0, 60, 90, 1]\nStep3: [\"<|15-19|>\", 17, 0, 60, 90, 0]\nStep4: [\"<|15-19|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|17-9|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|17-9|>\", 23, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 41, 51, 30, 0, 60, 90, 1 ], [ 41, 51, 18, 0, 60, 90, 1 ], [ 41, 51, 18, 0, 60, 90, 0 ], [ 41, 51, 30, 0, 60, 90, 0 ], [ 39, 22, 30, 0, 60, 90, 0 ], [ 39, 22, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|rose|><|cube|>\": 17, \"<|magenta|><|cylinder|>\": 18, \"<|cyan|><|star|>\": 17, \"<|maroon|><|triangular prism|>\": 18}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 triangular prism on top of the rose 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|><|rose|><|cube|><|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|><|magenta|><|cylinder|><|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|><|cyan|><|star|><|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|><|maroon|><|triangular prism|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|12-10|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|12-10|>\", 18, 0, 60, 90, 1]\nStep3: [\"<|12-10|>\", 18, 0, 60, 90, 0]\nStep4: [\"<|12-10|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|5-9|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|5-9|>\", 21, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 25, 67, 30, 0, 60, 90, 1 ], [ 25, 67, 18, 0, 60, 90, 1 ], [ 25, 67, 18, 0, 60, 90, 0 ], [ 25, 67, 30, 0, 60, 90, 0 ], [ 32, 16, 30, 0, 60, 90, 0 ], [ 32, 16, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|black|><|star|>\": 19, \"<|white|><|cylinder|>\": 18, \"<|lime|><|moon|>\": 17, \"<|magenta|><|moon|>\": 18, \"<|blue|><|star|>\": 17}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 moon on top of the black 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|><|black|><|star|><|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|><|blue|><|star|><|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|><|lime|><|moon|><|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|><|white|><|cylinder|><|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|><|magenta|><|moon|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|16-6|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|16-6|>\", 18, 0, 60, 90, 1]\nStep3: [\"<|16-6|>\", 18, 0, 60, 90, 0]\nStep4: [\"<|16-6|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|4-8|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|4-8|>\", 23, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 88, 53, 30, 0, 60, 90, 1 ], [ 88, 53, 18, 0, 60, 90, 1 ], [ 88, 53, 18, 0, 60, 90, 0 ], [ 88, 53, 30, 0, 60, 90, 0 ], [ 32, 58, 30, 0, 60, 90, 0 ], [ 32, 58, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|olive|><|cylinder|>\": 18, \"<|magenta|><|container|>\": 19, \"<|olive|><|triangular prism|>\": 18}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 olive triangular prism 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|><|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|><|olive|><|triangular prism|><|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|><|magenta|><|container|><|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|><|olive|><|cylinder|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|13-22|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|13-22|>\", 18, 0, 60, 90, 1]\nStep3: [\"<|13-22|>\", 18, 0, 60, 90, 0]\nStep4: [\"<|13-22|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|14-8|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|14-8|>\", 19, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 62, 39, 30, 0, 60, 90, 1 ], [ 62, 39, 18, 0, 60, 90, 1 ], [ 62, 39, 18, 0, 60, 90, 0 ], [ 62, 39, 30, 0, 60, 90, 0 ], [ 85, 60, 30, 0, 60, 90, 0 ], [ 85, 60, 17, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|red|><|star|>\": 18, \"<|navy|><|container|>\": 17, \"<|gray|><|star|>\": 18, \"<|lime|><|cylinder|>\": 18, \"<|magenta|><|cylinder|>\": 18}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 star 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|><|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|><|magenta|><|cylinder|><|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|><|red|><|star|><|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|><|gray|><|star|><|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|><|navy|><|container|><|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|><|lime|><|cylinder|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|9-15|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|9-15|>\", 18, 0, 60, 90, 1]\nStep3: [\"<|9-15|>\", 18, 0, 60, 90, 0]\nStep4: [\"<|9-15|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|15-21|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|15-21|>\", 17, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 35, 33, 30, 0, 60, 90, 1 ], [ 35, 33, 18, 0, 60, 90, 1 ], [ 35, 33, 18, 0, 60, 90, 0 ], [ 35, 33, 30, 0, 60, 90, 0 ], [ 11, 57, 30, 0, 60, 90, 0 ], [ 11, 57, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|black|><|triangular prism|>\": 17, \"<|blue|><|star|>\": 18, \"<|violet|><|star|>\": 18, \"<|gray|><|triangular prism|>\": 17, \"<|azure|><|triangular prism|>\": 19}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 star on top of the azure 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|><|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|><|violet|><|star|><|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|><|gray|><|triangular prism|><|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|><|azure|><|triangular prism|><|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|><|black|><|triangular prism|><|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|><|blue|><|star|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|8-8|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|8-8|>\", 18, 0, 60, 90, 1]\nStep3: [\"<|8-8|>\", 18, 0, 60, 90, 0]\nStep4: [\"<|8-8|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|14-2|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|14-2|>\", 23, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 25, 54, 30, 0, 60, 90, 1 ], [ 25, 54, 18, 0, 60, 90, 1 ], [ 25, 54, 18, 0, 60, 90, 0 ], [ 25, 54, 30, 0, 60, 90, 0 ], [ 71, 70, 30, 0, 60, 90, 0 ], [ 71, 70, 17, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|gray|><|cube|>\": 17, \"<|blue|><|container|>\": 17, \"<|cyan|><|cube|>\": 18, \"<|yellow|><|cylinder|>\": 18, \"<|black|><|cube|>\": 18}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 black cube 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|><|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|><|gray|><|cube|><|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|><|yellow|><|cylinder|><|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|><|cyan|><|cube|><|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|><|black|><|cube|><|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|><|blue|><|container|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|13-6|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|13-6|>\", 18, 0, 60, 90, 1]\nStep3: [\"<|13-6|>\", 18, 0, 60, 90, 0]\nStep4: [\"<|13-6|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|17-17|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|17-17|>\", 17, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 64, 72, 30, 0, 60, 90, 1 ], [ 64, 72, 17, 0, 60, 90, 1 ], [ 64, 72, 17, 0, 60, 90, 0 ], [ 64, 72, 30, 0, 60, 90, 0 ], [ 42, 66, 30, 0, 60, 90, 0 ], [ 42, 66, 22, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|magenta|><|cylinder|>\": 18, \"<|rose|><|moon|>\": 17, \"<|violet|><|moon|>\": 17, \"<|rose|><|cube|>\": 17, \"<|teal|><|star|>\": 17}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 magenta 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|><|violet|><|moon|><|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|><|magenta|><|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|><|teal|><|star|><|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|><|rose|><|moon|><|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|><|rose|><|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|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|18-16|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|18-16|>\", 17, 0, 60, 90, 1]\nStep3: [\"<|18-16|>\", 17, 0, 60, 90, 0]\nStep4: [\"<|18-16|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|16-10|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|16-10|>\", 22, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 56, 27, 30, 0, 60, 90, 1 ], [ 56, 27, 17, 0, 60, 90, 1 ], [ 56, 27, 17, 0, 60, 90, 0 ], [ 56, 27, 30, 0, 60, 90, 0 ], [ 44, 88, 30, 0, 60, 90, 0 ], [ 44, 88, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|silver|><|triangular prism|>\": 18, \"<|cyan|><|cylinder|>\": 18, \"<|teal|><|moon|>\": 17, \"<|white|><|cube|>\": 17, \"<|yellow|><|cylinder|>\": 19}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 moon on top of the yellow 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|><|cyan|><|cylinder|><|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|><|teal|><|moon|><|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|><|white|><|cube|><|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|><|silver|><|triangular prism|><|22-11|><|yellow|><|cylinder|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|6-14|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|6-14|>\", 17, 0, 60, 90, 1]\nStep3: [\"<|6-14|>\", 17, 0, 60, 90, 0]\nStep4: [\"<|6-14|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|22-11|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|22-11|>\", 23, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 64, 24, 30, 0, 60, 90, 1 ], [ 64, 24, 18, 0, 60, 90, 1 ], [ 64, 24, 18, 0, 60, 90, 0 ], [ 64, 24, 30, 0, 60, 90, 0 ], [ 43, 34, 30, 0, 60, 90, 0 ], [ 43, 34, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|teal|><|moon|>\": 19, \"<|purple|><|moon|>\": 18, \"<|red|><|moon|>\": 18, \"<|lime|><|star|>\": 18}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 moon 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|><|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|><|purple|><|moon|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|red|><|moon|><|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|><|teal|><|moon|><|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|><|lime|><|star|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|6-16|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|6-16|>\", 18, 0, 60, 90, 1]\nStep3: [\"<|6-16|>\", 18, 0, 60, 90, 0]\nStep4: [\"<|6-16|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|8-10|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|8-10|>\", 23, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 52, 82, 30, 0, 60, 90, 1 ], [ 52, 82, 18, 0, 60, 90, 1 ], [ 52, 82, 18, 0, 60, 90, 0 ], [ 52, 82, 30, 0, 60, 90, 0 ], [ 21, 46, 30, 0, 60, 90, 0 ], [ 21, 46, 22, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|purple|><|cube|>\": 18, \"<|azure|><|cylinder|>\": 18, \"<|violet|><|star|>\": 18}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 cylinder 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|><|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|><|purple|><|cube|><|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|><|violet|><|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|><|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|><|azure|><|cylinder|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|20-13|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|20-13|>\", 18, 0, 60, 90, 1]\nStep3: [\"<|20-13|>\", 18, 0, 60, 90, 0]\nStep4: [\"<|20-13|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|11-5|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|11-5|>\", 22, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 85, 47, 30, 0, 60, 90, 1 ], [ 85, 47, 18, 0, 60, 90, 1 ], [ 85, 47, 18, 0, 60, 90, 0 ], [ 85, 47, 30, 0, 60, 90, 0 ], [ 80, 50, 30, 0, 60, 90, 0 ], [ 80, 50, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|red|><|container|>\": 19, \"<|cyan|><|triangular prism|>\": 17, \"<|black|><|star|>\": 17, \"<|azure|><|cube|>\": 18, \"<|violet|><|triangular prism|>\": 18}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 cube 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|><|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|><|violet|><|triangular prism|><|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|><|azure|><|cube|><|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|><|red|><|container|><|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|><|black|><|star|><|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|><|cyan|><|triangular prism|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|11-21|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|11-21|>\", 18, 0, 60, 90, 1]\nStep3: [\"<|11-21|>\", 18, 0, 60, 90, 0]\nStep4: [\"<|11-21|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|12-20|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|12-20|>\", 19, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 86, 69, 30, 0, 60, 90, 1 ], [ 86, 69, 18, 0, 60, 90, 1 ], [ 86, 69, 18, 0, 60, 90, 0 ], [ 86, 69, 30, 0, 60, 90, 0 ], [ 52, 56, 30, 0, 60, 90, 0 ], [ 52, 56, 22, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|red|><|star|>\": 18, \"<|olive|><|star|>\": 18, \"<|azure|><|star|>\": 18}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 on top of the azure 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|><|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|><|olive|><|star|><|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|><|azure|><|star|><|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|><|red|><|star|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|17-21|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|17-21|>\", 18, 0, 60, 90, 1]\nStep3: [\"<|17-21|>\", 18, 0, 60, 90, 0]\nStep4: [\"<|17-21|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|14-13|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|14-13|>\", 22, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 62, 50, 30, 0, 60, 90, 1 ], [ 62, 50, 17, 0, 60, 90, 1 ], [ 62, 50, 17, 0, 60, 90, 0 ], [ 62, 50, 30, 0, 60, 90, 0 ], [ 58, 62, 30, 0, 60, 90, 0 ], [ 58, 62, 17, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|blue|><|container|>\": 17, \"<|red|><|cylinder|>\": 17, \"<|white|><|star|>\": 18}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 cylinder 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|><|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|><|white|><|star|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|red|><|cylinder|><|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|><|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|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|12-15|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|12-15|>\", 17, 0, 60, 90, 1]\nStep3: [\"<|12-15|>\", 17, 0, 60, 90, 0]\nStep4: [\"<|12-15|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|15-14|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|15-14|>\", 17, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 88, 36, 30, 0, 60, 90, 1 ], [ 88, 36, 17, 0, 60, 90, 1 ], [ 88, 36, 17, 0, 60, 90, 0 ], [ 88, 36, 30, 0, 60, 90, 0 ], [ 26, 87, 30, 0, 60, 90, 0 ], [ 26, 87, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|purple|><|cylinder|>\": 17, \"<|lime|><|cube|>\": 19, \"<|teal|><|star|>\": 18, \"<|blue|><|cube|>\": 17}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 purple cylinder 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|><|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|><|purple|><|cylinder|><|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|><|blue|><|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|><|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|><|teal|><|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|><|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|><|lime|><|cube|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|9-22|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|9-22|>\", 17, 0, 60, 90, 1]\nStep3: [\"<|9-22|>\", 17, 0, 60, 90, 0]\nStep4: [\"<|9-22|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|21-6|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|21-6|>\", 23, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 50, 54, 30, 0, 60, 90, 1 ], [ 50, 54, 17, 0, 60, 90, 1 ], [ 50, 54, 17, 0, 60, 90, 0 ], [ 50, 54, 30, 0, 60, 90, 0 ], [ 87, 33, 30, 0, 60, 90, 0 ], [ 87, 33, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|cyan|><|triangular prism|>\": 17, \"<|red|><|moon|>\": 18, \"<|magenta|><|container|>\": 18, \"<|red|><|star|>\": 18}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 triangular prism 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|><|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|><|magenta|><|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|><|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|><|red|><|moon|><|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|><|red|><|star|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|cyan|><|triangular prism|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|13-12|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|13-12|>\", 17, 0, 60, 90, 1]\nStep3: [\"<|13-12|>\", 17, 0, 60, 90, 0]\nStep4: [\"<|13-12|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|8-21|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|8-21|>\", 18, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 62, 49, 30, 0, 60, 90, 1 ], [ 62, 49, 17, 0, 60, 90, 1 ], [ 62, 49, 17, 0, 60, 90, 0 ], [ 62, 49, 30, 0, 60, 90, 0 ], [ 82, 43, 30, 0, 60, 90, 0 ], [ 82, 43, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|silver|><|container|>\": 19, \"<|gray|><|cube|>\": 18, \"<|lime|><|moon|>\": 17, \"<|yellow|><|star|>\": 17, \"<|cyan|><|moon|>\": 18}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 lime moon 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|><|gray|><|cube|><|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|><|silver|><|container|><|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|><|yellow|><|star|><|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|><|lime|><|moon|><|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|><|cyan|><|moon|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|12-15|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|12-15|>\", 17, 0, 60, 90, 1]\nStep3: [\"<|12-15|>\", 17, 0, 60, 90, 0]\nStep4: [\"<|12-15|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|10-20|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|10-20|>\", 19, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 44, 83, 30, 0, 60, 90, 1 ], [ 44, 83, 18, 0, 60, 90, 1 ], [ 44, 83, 18, 0, 60, 90, 0 ], [ 44, 83, 30, 0, 60, 90, 0 ], [ 35, 64, 30, 0, 60, 90, 0 ], [ 35, 64, 22, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|violet|><|moon|>\": 18, \"<|maroon|><|star|>\": 18, \"<|lime|><|cylinder|>\": 18, \"<|magenta|><|triangular prism|>\": 18, \"<|cyan|><|star|>\": 17}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 cylinder on top of the magenta 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|><|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|><|magenta|><|triangular prism|><|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|><|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|><|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|><|violet|><|moon|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|lime|><|cylinder|><|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|><|maroon|><|star|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|20-11|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|20-11|>\", 18, 0, 60, 90, 1]\nStep3: [\"<|20-11|>\", 18, 0, 60, 90, 0]\nStep4: [\"<|20-11|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|16-8|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|16-8|>\", 22, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 42, 81, 30, 0, 60, 90, 1 ], [ 42, 81, 18, 0, 60, 90, 1 ], [ 42, 81, 18, 0, 60, 90, 0 ], [ 42, 81, 30, 0, 60, 90, 0 ], [ 83, 12, 30, 0, 60, 90, 0 ], [ 83, 12, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|teal|><|cylinder|>\": 17, \"<|purple|><|triangular prism|>\": 17, \"<|magenta|><|star|>\": 18, \"<|green|><|cylinder|>\": 18}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 teal 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|><|teal|><|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|><|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|><|purple|><|triangular prism|><|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|><|magenta|><|star|><|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|><|green|><|cylinder|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|20-10|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|20-10|>\", 18, 0, 60, 90, 1]\nStep3: [\"<|20-10|>\", 18, 0, 60, 90, 0]\nStep4: [\"<|20-10|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|3-20|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|3-20|>\", 21, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 36, 54, 30, 0, 60, 90, 1 ], [ 36, 54, 18, 0, 60, 90, 1 ], [ 36, 54, 18, 0, 60, 90, 0 ], [ 36, 54, 30, 0, 60, 90, 0 ], [ 82, 30, 30, 0, 60, 90, 0 ], [ 82, 30, 17, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|black|><|container|>\": 17, \"<|yellow|><|cube|>\": 17, \"<|white|><|star|>\": 18, \"<|silver|><|cylinder|>\": 18, \"<|lime|><|cylinder|>\": 18}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 lime 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|><|silver|><|cylinder|><|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|><|black|><|container|><|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|><|lime|><|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|><|yellow|><|cube|><|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|><|white|><|star|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|13-9|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|13-9|>\", 18, 0, 60, 90, 1]\nStep3: [\"<|13-9|>\", 18, 0, 60, 90, 0]\nStep4: [\"<|13-9|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|7-20|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|7-20|>\", 17, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 33, 66, 30, 0, 60, 90, 1 ], [ 33, 66, 18, 0, 60, 90, 1 ], [ 33, 66, 18, 0, 60, 90, 0 ], [ 33, 66, 30, 0, 60, 90, 0 ], [ 32, 29, 30, 0, 60, 90, 0 ], [ 32, 29, 17, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|azure|><|star|>\": 18, \"<|white|><|triangular prism|>\": 18, \"<|lime|><|moon|>\": 18, \"<|silver|><|triangular prism|>\": 17, \"<|green|><|container|>\": 17}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 white triangular prism 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|><|green|><|container|><|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|><|azure|><|star|><|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|><|lime|><|moon|><|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|><|white|><|triangular prism|><|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|><|silver|><|triangular prism|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|16-8|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|16-8|>\", 18, 0, 60, 90, 1]\nStep3: [\"<|16-8|>\", 18, 0, 60, 90, 0]\nStep4: [\"<|16-8|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|7-8|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|7-8|>\", 17, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 39, 77, 30, 0, 60, 90, 1 ], [ 39, 77, 18, 0, 60, 90, 1 ], [ 39, 77, 18, 0, 60, 90, 0 ], [ 39, 77, 30, 0, 60, 90, 0 ], [ 26, 52, 30, 0, 60, 90, 0 ], [ 26, 52, 17, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|purple|><|moon|>\": 18, \"<|cyan|><|cube|>\": 17, \"<|maroon|><|container|>\": 17, \"<|blue|><|cube|>\": 18}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 cube 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|><|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|><|cyan|><|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|><|maroon|><|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|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|purple|><|moon|><|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|><|blue|><|cube|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|19-9|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|19-9|>\", 18, 0, 60, 90, 1]\nStep3: [\"<|19-9|>\", 18, 0, 60, 90, 0]\nStep4: [\"<|19-9|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|13-6|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|13-6|>\", 17, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 28, 87, 30, 0, 60, 90, 1 ], [ 28, 87, 17, 0, 60, 90, 1 ], [ 28, 87, 17, 0, 60, 90, 0 ], [ 28, 87, 30, 0, 60, 90, 0 ], [ 34, 12, 30, 0, 60, 90, 0 ], [ 34, 12, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|red|><|container|>\": 19, \"<|violet|><|star|>\": 17, \"<|blue|><|star|>\": 18}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 star 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|><|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|><|red|><|container|><|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|><|blue|><|star|><|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|><|violet|><|star|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|21-7|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|21-7|>\", 17, 0, 60, 90, 1]\nStep3: [\"<|21-7|>\", 17, 0, 60, 90, 0]\nStep4: [\"<|21-7|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|3-8|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|3-8|>\", 19, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 82, 21, 30, 0, 60, 90, 1 ], [ 82, 21, 17, 0, 60, 90, 1 ], [ 82, 21, 17, 0, 60, 90, 0 ], [ 82, 21, 30, 0, 60, 90, 0 ], [ 73, 77, 30, 0, 60, 90, 0 ], [ 73, 77, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|gray|><|cylinder|>\": 18, \"<|black|><|moon|>\": 17, \"<|teal|><|container|>\": 19}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 black 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|><|black|><|moon|><|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|><|teal|><|container|><|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|><|gray|><|cylinder|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|5-20|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|5-20|>\", 17, 0, 60, 90, 1]\nStep3: [\"<|5-20|>\", 17, 0, 60, 90, 0]\nStep4: [\"<|5-20|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|19-18|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|19-18|>\", 19, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 89, 29, 30, 0, 60, 90, 1 ], [ 89, 29, 18, 0, 60, 90, 1 ], [ 89, 29, 18, 0, 60, 90, 0 ], [ 89, 29, 30, 0, 60, 90, 0 ], [ 44, 88, 30, 0, 60, 90, 0 ], [ 44, 88, 22, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|green|><|star|>\": 18, \"<|cyan|><|star|>\": 18, \"<|navy|><|star|>\": 18, \"<|red|><|cube|>\": 18}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 star 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|><|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|><|navy|><|star|><|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|><|green|><|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|><|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|><|cyan|><|star|><|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|><|red|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|7-22|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|7-22|>\", 18, 0, 60, 90, 1]\nStep3: [\"<|7-22|>\", 18, 0, 60, 90, 0]\nStep4: [\"<|7-22|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|22-11|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|22-11|>\", 22, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 21, 65, 30, 0, 60, 90, 1 ], [ 21, 65, 17, 0, 60, 90, 1 ], [ 21, 65, 17, 0, 60, 90, 0 ], [ 21, 65, 30, 0, 60, 90, 0 ], [ 21, 26, 30, 0, 60, 90, 0 ], [ 21, 26, 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\nINPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|white|><|moon|>\": 18, \"<|purple|><|moon|>\": 17, \"<|violet|><|moon|>\": 17, \"<|blue|><|cylinder|>\": 17}\n\nIMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\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 moon on top of the purple 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|><|white|><|moon|><|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|><|purple|><|moon|><|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|><|blue|><|cylinder|><|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|><|violet|><|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|><|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>\nThink step by step about the spatial relationships, then output ONLY the action sequence in the required format.", "role": "user" }, { "content": "Step1: [\"<|16-5|>\", 30, 0, 60, 90, 1]\nStep2: [\"<|16-5|>\", 17, 0, 60, 90, 1]\nStep3: [\"<|16-5|>\", 17, 0, 60, 90, 0]\nStep4: [\"<|16-5|>\", 30, 0, 60, 90, 0]\nStep5: [\"<|6-5|>\", 30, 0, 60, 90, 0]\nStep6: [\"<|6-5|>\", 21, 0, 60, 90, 1]", "role": "assistant" } ]