Source_Obj stringlengths 38 56 | Target_Obj stringlengths 38 56 | Thinking stringlengths 565 706 | Object stringlengths 143 291 | instruction stringlengths 41 76 | solution sequencelengths 6 6 | Conversation listlengths 2 2 |
|---|---|---|---|---|---|---|
[{"<|rose|><|cylinder|>": ["<|7-21|>", 17]}] | [{"<|white|><|moon|>": ["<|19-9|>", 19]}] | LOCATE OBJECTS:
Target Object: <|rose|><|cylinder|> found at <|7-21|> with height 17
Target Placement Location: <|white|><|moon|> at <|19-9|> with height 19
PLAN ACTIONS:
Step 1: Move above <|rose|><|cylinder|> at <|7-21|> with height 30
Step 2: Lower to <|rose|><|cylinder|> at <|7-21|> with height 17
Step 3: Close gri... | [{"azure-star": [62, 79, 17]}, {"lime-cylinder": [83, 20, 17]}, {"rose-cylinder": [86, 29, 17]}, {"purple-cube": [73, 77, 18]}, {"lime-triangular prism": [82, 32, 18]}, {"navy-cube": [74, 64, 17]}, {"white-moon": [37, 77, 19]}] | Stack the rose cylinder on top of the white moon | [
[
86,
29,
30,
0,
60,
90,
1
],
[
86,
29,
17,
0,
60,
90,
1
],
[
86,
29,
17,
0,
60,
90,
0
],
[
86,
29,
30,
0,
60,
90,
0
],
[
37,
77,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|cyan|><|cube|>": ["<|17-5|>", 17]}] | [{"<|purple|><|cube|>": ["<|22-8|>", 17]}] | LOCATE OBJECTS:
Target Object: <|cyan|><|cube|> found at <|17-5|> with height 17
Target Placement Location: <|purple|><|cube|> at <|22-8|> with height 17
PLAN ACTIONS:
Step 1: Move above <|cyan|><|cube|> at <|17-5|> with height 30
Step 2: Lower to <|cyan|><|cube|> at <|17-5|> with height 17
Step 3: Close gripper on <|c... | [{"magenta-moon": [26, 70, 18]}, {"cyan-cube": [22, 70, 17]}, {"purple-cube": [32, 89, 17]}, {"green-star": [90, 67, 17]}, {"cyan-moon": [62, 30, 18]}, {"lime-triangular prism": [81, 88, 17]}, {"silver-cylinder": [77, 23, 17]}] | Stack the cyan cube on top of the purple cube | [
[
22,
70,
30,
0,
60,
90,
1
],
[
22,
70,
17,
0,
60,
90,
1
],
[
22,
70,
17,
0,
60,
90,
0
],
[
22,
70,
30,
0,
60,
90,
0
],
[
32,
89,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|lime|><|star|>": ["<|9-14|>", 18]}] | [{"<|purple|><|triangular prism|>": ["<|19-5|>", 17]}] | LOCATE OBJECTS:
Target Object: <|lime|><|star|> found at <|9-14|> with height 18
Target Placement Location: <|purple|><|triangular prism|> at <|19-5|> with height 17
PLAN ACTIONS:
Step 1: Move above <|lime|><|star|> at <|9-14|> with height 30
Step 2: Lower to <|lime|><|star|> at <|9-14|> with height 18
Step 3: Close gr... | [{"purple-triangular prism": [23, 77, 17]}, {"azure-triangular prism": [90, 55, 17]}, {"lime-star": [56, 37, 18]}, {"maroon-moon": [89, 41, 18]}, {"red-moon": [84, 65, 17]}] | Stack the lime star on top of the purple triangular prism | [
[
56,
37,
30,
0,
60,
90,
1
],
[
56,
37,
18,
0,
60,
90,
1
],
[
56,
37,
18,
0,
60,
90,
0
],
[
56,
37,
30,
0,
60,
90,
0
],
[
23,
77,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|white|><|moon|>": ["<|18-21|>", 18]}] | [{"<|yellow|><|moon|>": ["<|9-7|>", 19]}] | LOCATE OBJECTS:
Target Object: <|white|><|moon|> found at <|18-21|> with height 18
Target Placement Location: <|yellow|><|moon|> at <|9-7|> with height 19
PLAN ACTIONS:
Step 1: Move above <|white|><|moon|> at <|18-21|> with height 30
Step 2: Lower to <|white|><|moon|> at <|18-21|> with height 18
Step 3: Close gripper o... | [{"white-moon": [84, 72, 18]}, {"green-star": [82, 54, 18]}, {"olive-cube": [71, 57, 17]}, {"yellow-moon": [29, 36, 19]}, {"magenta-triangular prism": [80, 34, 17]}, {"teal-cylinder": [49, 45, 18]}, {"teal-moon": [61, 86, 18]}] | Stack the white moon on top of the yellow moon | [
[
84,
72,
30,
0,
60,
90,
1
],
[
84,
72,
18,
0,
60,
90,
1
],
[
84,
72,
18,
0,
60,
90,
0
],
[
84,
72,
30,
0,
60,
90,
0
],
[
29,
36,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|gray|><|star|>": ["<|17-7|>", 18]}] | [{"<|blue|><|container|>": ["<|18-10|>", 19]}] | LOCATE OBJECTS:
Target Object: <|gray|><|star|> found at <|17-7|> with height 18
Target Placement Location: <|blue|><|container|> at <|18-10|> with height 19
PLAN ACTIONS:
Step 1: Move above <|gray|><|star|> at <|17-7|> with height 30
Step 2: Lower to <|gray|><|star|> at <|17-7|> with height 18
Step 3: Close gripper on... | [{"azure-cube": [39, 37, 18]}, {"yellow-cube": [83, 50, 17]}, {"gray-moon": [64, 44, 17]}, {"magenta-cylinder": [69, 63, 17]}, {"gray-star": [31, 71, 18]}, {"gray-cylinder": [65, 59, 17]}, {"blue-container": [40, 72, 19]}] | Pick up the gray star and place it into the blue container | [
[
31,
71,
30,
0,
60,
90,
1
],
[
31,
71,
18,
0,
60,
90,
1
],
[
31,
71,
18,
0,
60,
90,
0
],
[
31,
71,
30,
0,
60,
90,
0
],
[
40,
72,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|white|><|cylinder|>": ["<|10-6|>", 18]}] | [{"<|black|><|container|>": ["<|3-16|>", 17]}] | LOCATE OBJECTS:
Target Object: <|white|><|cylinder|> found at <|10-6|> with height 18
Target Placement Location: <|black|><|container|> at <|3-16|> with height 17
PLAN ACTIONS:
Step 1: Move above <|white|><|cylinder|> at <|10-6|> with height 30
Step 2: Lower to <|white|><|cylinder|> at <|10-6|> with height 18
Step 3: C... | [{"navy-cylinder": [67, 44, 18]}, {"purple-moon": [39, 49, 17]}, {"navy-cube": [86, 29, 17]}, {"green-cylinder": [69, 53, 18]}, {"white-cylinder": [25, 40, 18]}, {"black-container": [65, 13, 17]}, {"red-moon": [86, 51, 18]}] | Pick up the white cylinder and place it into the black container | [
[
25,
40,
30,
0,
60,
90,
1
],
[
25,
40,
18,
0,
60,
90,
1
],
[
25,
40,
18,
0,
60,
90,
0
],
[
25,
40,
30,
0,
60,
90,
0
],
[
65,
13,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|white|><|moon|>": ["<|17-21|>", 18]}] | [{"<|yellow|><|container|>": ["<|8-13|>", 18]}] | LOCATE OBJECTS:
Target Object: <|white|><|moon|> found at <|17-21|> with height 18
Target Placement Location: <|yellow|><|container|> at <|8-13|> with height 18
PLAN ACTIONS:
Step 1: Move above <|white|><|moon|> at <|17-21|> with height 30
Step 2: Lower to <|white|><|moon|> at <|17-21|> with height 18
Step 3: Close gri... | [{"maroon-cube": [32, 20, 18]}, {"green-star": [81, 28, 18]}, {"rose-moon": [37, 36, 18]}, {"magenta-star": [67, 52, 17]}, {"magenta-triangular prism": [66, 26, 17]}, {"yellow-container": [55, 35, 18]}, {"white-moon": [87, 71, 18]}] | Pick up the white moon and place it into the yellow container | [
[
87,
71,
30,
0,
60,
90,
1
],
[
87,
71,
18,
0,
60,
90,
1
],
[
87,
71,
18,
0,
60,
90,
0
],
[
87,
71,
30,
0,
60,
90,
0
],
[
55,
35,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|azure|><|cube|>": ["<|7-21|>", 17]}] | [{"<|cyan|><|container|>": ["<|5-14|>", 18]}] | LOCATE OBJECTS:
Target Object: <|azure|><|cube|> found at <|7-21|> with height 17
Target Placement Location: <|cyan|><|container|> at <|5-14|> with height 18
PLAN ACTIONS:
Step 1: Move above <|azure|><|cube|> at <|7-21|> with height 30
Step 2: Lower to <|azure|><|cube|> at <|7-21|> with height 17
Step 3: Close gripper ... | [{"cyan-container": [56, 20, 18]}, {"magenta-cylinder": [73, 28, 17]}, {"green-cylinder": [66, 84, 18]}, {"black-star": [62, 39, 18]}, {"white-cylinder": [21, 61, 18]}, {"azure-cube": [84, 29, 17]}, {"teal-cube": [38, 90, 17]}] | Pick up the azure cube and place it into the cyan container | [
[
84,
29,
30,
0,
60,
90,
1
],
[
84,
29,
17,
0,
60,
90,
1
],
[
84,
29,
17,
0,
60,
90,
0
],
[
84,
29,
30,
0,
60,
90,
0
],
[
56,
20,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|violet|><|cube|>": ["<|15-21|>", 17]}] | [{"<|rose|><|triangular prism|>": ["<|6-16|>", 19]}] | LOCATE OBJECTS:
Target Object: <|violet|><|cube|> found at <|15-21|> with height 17
Target Placement Location: <|rose|><|triangular prism|> at <|6-16|> with height 19
PLAN ACTIONS:
Step 1: Move above <|violet|><|cube|> at <|15-21|> with height 30
Step 2: Lower to <|violet|><|cube|> at <|15-21|> with height 17
Step 3: C... | [{"green-triangular prism": [30, 81, 18]}, {"rose-cylinder": [67, 33, 17]}, {"olive-cylinder": [38, 49, 18]}, {"olive-moon": [27, 24, 17]}, {"violet-cube": [86, 61, 17]}, {"white-cube": [40, 32, 17]}, {"rose-triangular prism": [67, 27, 19]}] | Stack the violet cube on top of the rose triangular prism | [
[
86,
61,
30,
0,
60,
90,
1
],
[
86,
61,
17,
0,
60,
90,
1
],
[
86,
61,
17,
0,
60,
90,
0
],
[
86,
61,
30,
0,
60,
90,
0
],
[
67,
27,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|azure|><|moon|>": ["<|6-8|>", 18]}] | [{"<|blue|><|triangular prism|>": ["<|17-3|>", 19]}] | LOCATE OBJECTS:
Target Object: <|azure|><|moon|> found at <|6-8|> with height 18
Target Placement Location: <|blue|><|triangular prism|> at <|17-3|> with height 19
PLAN ACTIONS:
Step 1: Move above <|azure|><|moon|> at <|6-8|> with height 30
Step 2: Lower to <|azure|><|moon|> at <|6-8|> with height 18
Step 3: Close grip... | [{"blue-triangular prism": [13, 71, 19]}, {"rose-cube": [23, 82, 18]}, {"azure-moon": [33, 27, 18]}, {"olive-star": [34, 23, 18]}, {"white-star": [51, 49, 17]}] | Stack the azure moon on top of the blue triangular prism | [
[
33,
27,
30,
0,
60,
90,
1
],
[
33,
27,
18,
0,
60,
90,
1
],
[
33,
27,
18,
0,
60,
90,
0
],
[
33,
27,
30,
0,
60,
90,
0
],
[
13,
71,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|black|><|cylinder|>": ["<|22-21|>", 18]}] | [{"<|maroon|><|cylinder|>": ["<|3-9|>", 19]}] | LOCATE OBJECTS:
Target Object: <|black|><|cylinder|> found at <|22-21|> with height 18
Target Placement Location: <|maroon|><|cylinder|> at <|3-9|> with height 19
PLAN ACTIONS:
Step 1: Move above <|black|><|cylinder|> at <|22-21|> with height 30
Step 2: Lower to <|black|><|cylinder|> at <|22-21|> with height 18
Step 3:... | [{"black-cylinder": [84, 88, 18]}, {"navy-triangular prism": [62, 53, 18]}, {"red-cube": [37, 48, 18]}, {"purple-triangular prism": [80, 59, 17]}, {"maroon-cylinder": [36, 13, 19]}] | Stack the black cylinder on top of the maroon cylinder | [
[
84,
88,
30,
0,
60,
90,
1
],
[
84,
88,
18,
0,
60,
90,
1
],
[
84,
88,
18,
0,
60,
90,
0
],
[
84,
88,
30,
0,
60,
90,
0
],
[
36,
13,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|teal|><|cube|>": ["<|11-9|>", 17]}] | [{"<|gray|><|triangular prism|>": ["<|21-2|>", 19]}] | LOCATE OBJECTS:
Target Object: <|teal|><|cube|> found at <|11-9|> with height 17
Target Placement Location: <|gray|><|triangular prism|> at <|21-2|> with height 19
PLAN ACTIONS:
Step 1: Move above <|teal|><|cube|> at <|11-9|> with height 30
Step 2: Lower to <|teal|><|cube|> at <|11-9|> with height 17
Step 3: Close grip... | [{"gray-triangular prism": [11, 84, 19]}, {"violet-star": [39, 75, 17]}, {"green-triangular prism": [45, 81, 18]}, {"navy-triangular prism": [68, 83, 18]}, {"teal-cube": [36, 44, 17]}, {"blue-cube": [56, 21, 17]}, {"azure-star": [81, 24, 17]}] | Stack the teal cube on top of the gray triangular prism | [
[
36,
44,
30,
0,
60,
90,
1
],
[
36,
44,
17,
0,
60,
90,
1
],
[
36,
44,
17,
0,
60,
90,
0
],
[
36,
44,
30,
0,
60,
90,
0
],
[
11,
84,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
[{"<|violet|><|moon|>": ["<|8-16|>", 17]}] | [{"<|silver|><|cylinder|>": ["<|8-17|>", 19]}] | LOCATE OBJECTS:
Target Object: <|violet|><|moon|> found at <|8-16|> with height 17
Target Placement Location: <|silver|><|cylinder|> at <|8-17|> with height 19
PLAN ACTIONS:
Step 1: Move above <|violet|><|moon|> at <|8-16|> with height 30
Step 2: Lower to <|violet|><|moon|> at <|8-16|> with height 17
Step 3: Close grip... | [{"teal-cube": [63, 90, 17]}, {"black-cylinder": [70, 87, 17]}, {"silver-cylinder": [71, 34, 19]}, {"violet-moon": [65, 35, 17]}, {"lime-cube": [56, 45, 17]}] | Stack the violet moon on top of the silver cylinder | [
[
65,
35,
30,
0,
60,
90,
1
],
[
65,
35,
17,
0,
60,
90,
1
],
[
65,
35,
17,
0,
60,
90,
0
],
[
65,
35,
30,
0,
60,
90,
0
],
[
71,
34,
30,
0,
60,
90,
0
],
[
... | [
{
"content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- ... |
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