Datasets:

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jan-hq

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Pick-Place-Table-Reasoning-100x100-output

like 0

[ [ 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 ], [ 37, 77, 23, 0, 60, 90, 1 ] ]

[ { "content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 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|>\": 17, \"<|lime|><|cylinder|>\": 17, \"<|rose|><|cylinder|>\": 17, \"<|purple|><|cube|>\": 18, \"<|lime|><|triangular prism|>\": 18, \"<|navy|><|cube|>\": 17, \"<|white|><|moon|>\": 19}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [X_100, Y_100, Z, Roll, Pitch, Yaw,\nGripper] with X and Y are discrete positions on a 100×100 grid representing the table surface 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 white 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|><|lime|><|cylinder|><|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|><|rose|><|cylinder|><|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|><|lime|><|triangular prism|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|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|><|navy|><|cube|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|white|><|moon|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|azure|><|star|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|purple|><|cube|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|rose|><|cylinder|> found at <|7-21|> with height 17\nTarget Placement Location: <|white|><|moon|> at <|19-9|> with height 19\nPLAN ACTIONS:\nStep 1: Move above <|rose|><|cylinder|> at <|7-21|> with height 30\nStep 2: Lower to <|rose|><|cylinder|> at <|7-21|> with height 17\nStep 3: Close gripper on <|rose|><|cylinder|> at <|7-21|> with height 17\nStep 4: Lift <|rose|><|cylinder|> at <|7-21|> to height 30\nStep 5: Move to <|white|><|moon|> location at <|19-9|> with height 30\nStep 6: Stack on top of <|white|><|moon|> location at <|19-9|> with height 19 + 4 and open gripper\n\n</think>\n\nStep 1: [86, 29, 30, 0, 60, 90, 1]\nStep 2: [86, 29, 17, 0, 60, 90, 1]\nStep 3: [86, 29, 17, 0, 60, 90, 0]\nStep 4: [86, 29, 30, 0, 60, 90, 0]\nStep 5: [37, 77, 30, 0, 60, 90, 0]\nStep 6: [37, 77, 23, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 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 ], [ 32, 89, 21, 0, 60, 90, 1 ] ]

[ { "content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 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|><|moon|>\": 18, \"<|cyan|><|cube|>\": 17, \"<|purple|><|cube|>\": 17, \"<|green|><|star|>\": 17, \"<|cyan|><|moon|>\": 18, \"<|lime|><|triangular prism|>\": 17, \"<|silver|><|cylinder|>\": 17}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [X_100, Y_100, Z, Roll, Pitch, Yaw,\nGripper] with X and Y are discrete positions on a 100×100 grid representing the table surface 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 cube on top of the purple 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|><|silver|><|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|><|cyan|><|moon|><|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|><|green|><|star|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|cyan|><|cube|><|17-6|><|magenta|><|moon|><|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|><|purple|><|cube|><|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|><|lime|><|triangular prism|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|cyan|><|cube|> found at <|17-5|> with height 17\nTarget Placement Location: <|purple|><|cube|> at <|22-8|> with height 17\nPLAN ACTIONS:\nStep 1: Move above <|cyan|><|cube|> at <|17-5|> with height 30\nStep 2: Lower to <|cyan|><|cube|> at <|17-5|> with height 17\nStep 3: Close gripper on <|cyan|><|cube|> at <|17-5|> with height 17\nStep 4: Lift <|cyan|><|cube|> at <|17-5|> to height 30\nStep 5: Move to <|purple|><|cube|> location at <|22-8|> with height 30\nStep 6: Stack on top of <|purple|><|cube|> location at <|22-8|> with height 17 + 4 and open gripper\n\n</think>\n\nStep 1: [22, 70, 30, 0, 60, 90, 1]\nStep 2: [22, 70, 17, 0, 60, 90, 1]\nStep 3: [22, 70, 17, 0, 60, 90, 0]\nStep 4: [22, 70, 30, 0, 60, 90, 0]\nStep 5: [32, 89, 30, 0, 60, 90, 0]\nStep 6: [32, 89, 21, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 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 ], [ 23, 77, 21, 0, 60, 90, 1 ] ]

[ { "content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 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, \"<|azure|><|triangular prism|>\": 17, \"<|lime|><|star|>\": 18, \"<|maroon|><|moon|>\": 18, \"<|red|><|moon|>\": 17}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [X_100, Y_100, Z, Roll, Pitch, Yaw,\nGripper] with X and Y are discrete positions on a 100×100 grid representing the table surface 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 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|><|lime|><|star|><|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|><|maroon|><|moon|><|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|><|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|><|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|><|red|><|moon|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|purple|><|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>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|lime|><|star|> found at <|9-14|> with height 18\nTarget Placement Location: <|purple|><|triangular prism|> at <|19-5|> with height 17\nPLAN ACTIONS:\nStep 1: Move above <|lime|><|star|> at <|9-14|> with height 30\nStep 2: Lower to <|lime|><|star|> at <|9-14|> with height 18\nStep 3: Close gripper on <|lime|><|star|> at <|9-14|> with height 18\nStep 4: Lift <|lime|><|star|> at <|9-14|> to height 30\nStep 5: Move to <|purple|><|triangular prism|> location at <|19-5|> with height 30\nStep 6: Stack on top of <|purple|><|triangular prism|> location at <|19-5|> with height 17 + 4 and open gripper\n\n</think>\n\nStep 1: [56, 37, 30, 0, 60, 90, 1]\nStep 2: [56, 37, 18, 0, 60, 90, 1]\nStep 3: [56, 37, 18, 0, 60, 90, 0]\nStep 4: [56, 37, 30, 0, 60, 90, 0]\nStep 5: [23, 77, 30, 0, 60, 90, 0]\nStep 6: [23, 77, 21, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 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 ], [ 29, 36, 23, 0, 60, 90, 1 ] ]

[ { "content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 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, \"<|green|><|star|>\": 18, \"<|olive|><|cube|>\": 17, \"<|yellow|><|moon|>\": 19, \"<|magenta|><|triangular prism|>\": 17, \"<|teal|><|cylinder|>\": 18, \"<|teal|><|moon|>\": 18}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [X_100, Y_100, Z, Roll, Pitch, Yaw,\nGripper] with X and Y are discrete positions on a 100×100 grid representing the table surface 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 moon on top of the yellow 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|><|magenta|><|triangular prism|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|yellow|><|moon|><|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|><|teal|><|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|><|green|><|star|><|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|><|olive|><|cube|><|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|><|white|><|moon|><|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|><|teal|><|moon|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|white|><|moon|> found at <|18-21|> with height 18\nTarget Placement Location: <|yellow|><|moon|> at <|9-7|> with height 19\nPLAN ACTIONS:\nStep 1: Move above <|white|><|moon|> at <|18-21|> with height 30\nStep 2: Lower to <|white|><|moon|> at <|18-21|> with height 18\nStep 3: Close gripper on <|white|><|moon|> at <|18-21|> with height 18\nStep 4: Lift <|white|><|moon|> at <|18-21|> to height 30\nStep 5: Move to <|yellow|><|moon|> location at <|9-7|> with height 30\nStep 6: Stack on top of <|yellow|><|moon|> location at <|9-7|> with height 19 + 4 and open gripper\n\n</think>\n\nStep 1: [84, 72, 30, 0, 60, 90, 1]\nStep 2: [84, 72, 18, 0, 60, 90, 1]\nStep 3: [84, 72, 18, 0, 60, 90, 0]\nStep 4: [84, 72, 30, 0, 60, 90, 0]\nStep 5: [29, 36, 30, 0, 60, 90, 0]\nStep 6: [29, 36, 23, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 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 ], [ 40, 72, 19, 0, 60, 90, 1 ] ]

[ { "content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 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|><|cube|>\": 18, \"<|yellow|><|cube|>\": 17, \"<|gray|><|moon|>\": 17, \"<|magenta|><|cylinder|>\": 17, \"<|gray|><|star|>\": 18, \"<|gray|><|cylinder|>\": 17, \"<|blue|><|container|>\": 19}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [X_100, Y_100, Z, Roll, Pitch, Yaw,\nGripper] with X and Y are discrete positions on a 100×100 grid representing the table surface 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 gray star and place it into the blue container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|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|><|azure|><|cube|><|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|><|gray|><|moon|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|yellow|><|cube|><|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|><|gray|><|cylinder|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|magenta|><|cylinder|><|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|><|gray|><|star|><|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|><|blue|><|container|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|gray|><|star|> found at <|17-7|> with height 18\nTarget Placement Location: <|blue|><|container|> at <|18-10|> with height 19\nPLAN ACTIONS:\nStep 1: Move above <|gray|><|star|> at <|17-7|> with height 30\nStep 2: Lower to <|gray|><|star|> at <|17-7|> with height 18\nStep 3: Close gripper on <|gray|><|star|> at <|17-7|> with height 18\nStep 4: Lift <|gray|><|star|> at <|17-7|> to height 30\nStep 5: Move to <|blue|><|container|> location at <|18-10|> with height 30\nStep 6: Place inside <|blue|><|container|> location at <|18-10|> with height 19 and open gripper\n\n</think>\n\nStep 1: [31, 71, 30, 0, 60, 90, 1]\nStep 2: [31, 71, 18, 0, 60, 90, 1]\nStep 3: [31, 71, 18, 0, 60, 90, 0]\nStep 4: [31, 71, 30, 0, 60, 90, 0]\nStep 5: [40, 72, 30, 0, 60, 90, 0]\nStep 6: [40, 72, 19, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 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 ], [ 65, 13, 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\n## INPUT 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, \"<|purple|><|moon|>\": 17, \"<|navy|><|cube|>\": 17, \"<|green|><|cylinder|>\": 18, \"<|white|><|cylinder|>\": 18, \"<|black|><|container|>\": 17, \"<|red|><|moon|>\": 18}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [X_100, Y_100, Z, Roll, Pitch, Yaw,\nGripper] with X and Y are discrete positions on a 100×100 grid representing the table surface 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 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|><|black|><|container|><|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|><|navy|><|cube|><|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|><|white|><|cylinder|><|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|><|navy|><|cylinder|><|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|><|purple|><|moon|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|red|><|moon|><|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|><|green|><|cylinder|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|white|><|cylinder|> found at <|10-6|> with height 18\nTarget Placement Location: <|black|><|container|> at <|3-16|> with height 17\nPLAN ACTIONS:\nStep 1: Move above <|white|><|cylinder|> at <|10-6|> with height 30\nStep 2: Lower to <|white|><|cylinder|> at <|10-6|> with height 18\nStep 3: Close gripper on <|white|><|cylinder|> at <|10-6|> with height 18\nStep 4: Lift <|white|><|cylinder|> at <|10-6|> to height 30\nStep 5: Move to <|black|><|container|> location at <|3-16|> with height 30\nStep 6: Place inside <|black|><|container|> location at <|3-16|> with height 17 and open gripper\n\n</think>\n\nStep 1: [25, 40, 30, 0, 60, 90, 1]\nStep 2: [25, 40, 18, 0, 60, 90, 1]\nStep 3: [25, 40, 18, 0, 60, 90, 0]\nStep 4: [25, 40, 30, 0, 60, 90, 0]\nStep 5: [65, 13, 30, 0, 60, 90, 0]\nStep 6: [65, 13, 17, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 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 ], [ 55, 35, 18, 0, 60, 90, 1 ] ]

[ { "content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 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|>\": 18, \"<|green|><|star|>\": 18, \"<|rose|><|moon|>\": 18, \"<|magenta|><|star|>\": 17, \"<|magenta|><|triangular prism|>\": 17, \"<|yellow|><|container|>\": 18, \"<|white|><|moon|>\": 18}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [X_100, Y_100, Z, Roll, Pitch, Yaw,\nGripper] with X and Y are discrete positions on a 100×100 grid representing the table surface 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 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|><|maroon|><|cube|><|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|><|magenta|><|triangular prism|><|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|><|green|><|star|><|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|><|yellow|><|container|><|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|><|rose|><|moon|><|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|><|magenta|><|star|><|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|><|white|><|moon|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|white|><|moon|> found at <|17-21|> with height 18\nTarget Placement Location: <|yellow|><|container|> at <|8-13|> with height 18\nPLAN ACTIONS:\nStep 1: Move above <|white|><|moon|> at <|17-21|> with height 30\nStep 2: Lower to <|white|><|moon|> at <|17-21|> with height 18\nStep 3: Close gripper on <|white|><|moon|> at <|17-21|> with height 18\nStep 4: Lift <|white|><|moon|> at <|17-21|> to height 30\nStep 5: Move to <|yellow|><|container|> location at <|8-13|> with height 30\nStep 6: Place inside <|yellow|><|container|> location at <|8-13|> with height 18 and open gripper\n\n</think>\n\nStep 1: [87, 71, 30, 0, 60, 90, 1]\nStep 2: [87, 71, 18, 0, 60, 90, 1]\nStep 3: [87, 71, 18, 0, 60, 90, 0]\nStep 4: [87, 71, 30, 0, 60, 90, 0]\nStep 5: [55, 35, 30, 0, 60, 90, 0]\nStep 6: [55, 35, 18, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 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 ], [ 56, 20, 18, 0, 60, 90, 1 ] ]

[ { "content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 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|><|container|>\": 18, \"<|magenta|><|cylinder|>\": 17, \"<|green|><|cylinder|>\": 18, \"<|black|><|star|>\": 18, \"<|white|><|cylinder|>\": 18, \"<|azure|><|cube|>\": 17, \"<|teal|><|cube|>\": 17}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [X_100, Y_100, Z, Roll, Pitch, Yaw,\nGripper] with X and Y are discrete positions on a 100×100 grid representing the table surface 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 cyan container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|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|><|cyan|><|container|><|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|><|magenta|><|cylinder|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|azure|><|cube|><|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|><|black|><|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|><|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|><|white|><|cylinder|><|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|><|green|><|cylinder|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|teal|><|cube|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|azure|><|cube|> found at <|7-21|> with height 17\nTarget Placement Location: <|cyan|><|container|> at <|5-14|> with height 18\nPLAN ACTIONS:\nStep 1: Move above <|azure|><|cube|> at <|7-21|> with height 30\nStep 2: Lower to <|azure|><|cube|> at <|7-21|> with height 17\nStep 3: Close gripper on <|azure|><|cube|> at <|7-21|> with height 17\nStep 4: Lift <|azure|><|cube|> at <|7-21|> to height 30\nStep 5: Move to <|cyan|><|container|> location at <|5-14|> with height 30\nStep 6: Place inside <|cyan|><|container|> location at <|5-14|> with height 18 and open gripper\n\n</think>\n\nStep 1: [84, 29, 30, 0, 60, 90, 1]\nStep 2: [84, 29, 17, 0, 60, 90, 1]\nStep 3: [84, 29, 17, 0, 60, 90, 0]\nStep 4: [84, 29, 30, 0, 60, 90, 0]\nStep 5: [56, 20, 30, 0, 60, 90, 0]\nStep 6: [56, 20, 18, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 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 ], [ 67, 27, 23, 0, 60, 90, 1 ] ]

[ { "content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 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|><|triangular prism|>\": 18, \"<|rose|><|cylinder|>\": 17, \"<|olive|><|cylinder|>\": 18, \"<|olive|><|moon|>\": 17, \"<|violet|><|cube|>\": 17, \"<|white|><|cube|>\": 17, \"<|rose|><|triangular prism|>\": 19}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [X_100, Y_100, Z, Roll, Pitch, Yaw,\nGripper] with X and Y are discrete positions on a 100×100 grid representing the table surface 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 cube on top of the rose 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|><|olive|><|moon|><|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|><|rose|><|triangular prism|><|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|><|white|><|cube|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|rose|><|cylinder|><|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|><|olive|><|cylinder|><|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|><|violet|><|cube|><|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|><|green|><|triangular prism|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|violet|><|cube|> found at <|15-21|> with height 17\nTarget Placement Location: <|rose|><|triangular prism|> at <|6-16|> with height 19\nPLAN ACTIONS:\nStep 1: Move above <|violet|><|cube|> at <|15-21|> with height 30\nStep 2: Lower to <|violet|><|cube|> at <|15-21|> with height 17\nStep 3: Close gripper on <|violet|><|cube|> at <|15-21|> with height 17\nStep 4: Lift <|violet|><|cube|> at <|15-21|> to height 30\nStep 5: Move to <|rose|><|triangular prism|> location at <|6-16|> with height 30\nStep 6: Stack on top of <|rose|><|triangular prism|> location at <|6-16|> with height 19 + 4 and open gripper\n\n</think>\n\nStep 1: [86, 61, 30, 0, 60, 90, 1]\nStep 2: [86, 61, 17, 0, 60, 90, 1]\nStep 3: [86, 61, 17, 0, 60, 90, 0]\nStep 4: [86, 61, 30, 0, 60, 90, 0]\nStep 5: [67, 27, 30, 0, 60, 90, 0]\nStep 6: [67, 27, 23, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 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 ], [ 13, 71, 23, 0, 60, 90, 1 ] ]

[ { "content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 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|>\": 19, \"<|rose|><|cube|>\": 18, \"<|azure|><|moon|>\": 18, \"<|olive|><|star|>\": 18, \"<|white|><|star|>\": 17}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [X_100, Y_100, Z, Roll, Pitch, Yaw,\nGripper] with X and Y are discrete positions on a 100×100 grid representing the table surface 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 moon on top of the blue 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|><|olive|><|star|><|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|><|moon|><|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|><|white|><|star|><|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|><|blue|><|triangular prism|><|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|><|rose|><|cube|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|azure|><|moon|> found at <|6-8|> with height 18\nTarget Placement Location: <|blue|><|triangular prism|> at <|17-3|> with height 19\nPLAN ACTIONS:\nStep 1: Move above <|azure|><|moon|> at <|6-8|> with height 30\nStep 2: Lower to <|azure|><|moon|> at <|6-8|> with height 18\nStep 3: Close gripper on <|azure|><|moon|> at <|6-8|> with height 18\nStep 4: Lift <|azure|><|moon|> at <|6-8|> to height 30\nStep 5: Move to <|blue|><|triangular prism|> location at <|17-3|> with height 30\nStep 6: Stack on top of <|blue|><|triangular prism|> location at <|17-3|> with height 19 + 4 and open gripper\n\n</think>\n\nStep 1: [33, 27, 30, 0, 60, 90, 1]\nStep 2: [33, 27, 18, 0, 60, 90, 1]\nStep 3: [33, 27, 18, 0, 60, 90, 0]\nStep 4: [33, 27, 30, 0, 60, 90, 0]\nStep 5: [13, 71, 30, 0, 60, 90, 0]\nStep 6: [13, 71, 23, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 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 ], [ 36, 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\n## INPUT 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, \"<|navy|><|triangular prism|>\": 18, \"<|red|><|cube|>\": 18, \"<|purple|><|triangular prism|>\": 17, \"<|maroon|><|cylinder|>\": 19}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [X_100, Y_100, Z, Roll, Pitch, Yaw,\nGripper] with X and Y are discrete positions on a 100×100 grid representing the table surface 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 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|><|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|><|maroon|><|cylinder|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|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|><|red|><|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|><|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|><|navy|><|triangular prism|><|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|><|purple|><|triangular prism|><|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|><|black|><|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>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|black|><|cylinder|> found at <|22-21|> with height 18\nTarget Placement Location: <|maroon|><|cylinder|> at <|3-9|> with height 19\nPLAN ACTIONS:\nStep 1: Move above <|black|><|cylinder|> at <|22-21|> with height 30\nStep 2: Lower to <|black|><|cylinder|> at <|22-21|> with height 18\nStep 3: Close gripper on <|black|><|cylinder|> at <|22-21|> with height 18\nStep 4: Lift <|black|><|cylinder|> at <|22-21|> to height 30\nStep 5: Move to <|maroon|><|cylinder|> location at <|3-9|> with height 30\nStep 6: Stack on top of <|maroon|><|cylinder|> location at <|3-9|> with height 19 + 4 and open gripper\n\n</think>\n\nStep 1: [84, 88, 30, 0, 60, 90, 1]\nStep 2: [84, 88, 18, 0, 60, 90, 1]\nStep 3: [84, 88, 18, 0, 60, 90, 0]\nStep 4: [84, 88, 30, 0, 60, 90, 0]\nStep 5: [36, 13, 30, 0, 60, 90, 0]\nStep 6: [36, 13, 23, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 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 ], [ 11, 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\n## INPUT 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|>\": 19, \"<|violet|><|star|>\": 17, \"<|green|><|triangular prism|>\": 18, \"<|navy|><|triangular prism|>\": 18, \"<|teal|><|cube|>\": 17, \"<|blue|><|cube|>\": 17, \"<|azure|><|star|>\": 17}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [X_100, Y_100, Z, Roll, Pitch, Yaw,\nGripper] with X and Y are discrete positions on a 100×100 grid representing the table surface 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 cube 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|><|empty|><|5-13|><|empty|><|5-14|><|blue|><|cube|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|azure|><|star|><|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|><|teal|><|cube|><|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|><|violet|><|star|><|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|><|green|><|triangular prism|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|navy|><|triangular prism|><|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|><|gray|><|triangular prism|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|teal|><|cube|> found at <|11-9|> with height 17\nTarget Placement Location: <|gray|><|triangular prism|> at <|21-2|> with height 19\nPLAN ACTIONS:\nStep 1: Move above <|teal|><|cube|> at <|11-9|> with height 30\nStep 2: Lower to <|teal|><|cube|> at <|11-9|> with height 17\nStep 3: Close gripper on <|teal|><|cube|> at <|11-9|> with height 17\nStep 4: Lift <|teal|><|cube|> at <|11-9|> to height 30\nStep 5: Move to <|gray|><|triangular prism|> location at <|21-2|> with height 30\nStep 6: Stack on top of <|gray|><|triangular prism|> location at <|21-2|> with height 19 + 4 and open gripper\n\n</think>\n\nStep 1: [36, 44, 30, 0, 60, 90, 1]\nStep 2: [36, 44, 17, 0, 60, 90, 1]\nStep 3: [36, 44, 17, 0, 60, 90, 0]\nStep 4: [36, 44, 30, 0, 60, 90, 0]\nStep 5: [11, 84, 30, 0, 60, 90, 0]\nStep 6: [11, 84, 23, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 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 ], [ 71, 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\n## INPUT 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|><|cube|>\": 17, \"<|black|><|cylinder|>\": 17, \"<|silver|><|cylinder|>\": 19, \"<|violet|><|moon|>\": 17, \"<|lime|><|cube|>\": 17}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [X_100, Y_100, Z, Roll, Pitch, Yaw,\nGripper] with X and Y are discrete positions on a 100×100 grid representing the table surface 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 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|><|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|><|violet|><|moon|><|8-17|><|silver|><|cylinder|><|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|><|lime|><|cube|><|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|><|black|><|cylinder|><|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|><|teal|><|cube|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|violet|><|moon|> found at <|8-16|> with height 17\nTarget Placement Location: <|silver|><|cylinder|> at <|8-17|> with height 19\nPLAN ACTIONS:\nStep 1: Move above <|violet|><|moon|> at <|8-16|> with height 30\nStep 2: Lower to <|violet|><|moon|> at <|8-16|> with height 17\nStep 3: Close gripper on <|violet|><|moon|> at <|8-16|> with height 17\nStep 4: Lift <|violet|><|moon|> at <|8-16|> to height 30\nStep 5: Move to <|silver|><|cylinder|> location at <|8-17|> with height 30\nStep 6: Stack on top of <|silver|><|cylinder|> location at <|8-17|> with height 19 + 4 and open gripper\n\n</think>\n\nStep 1: [65, 35, 30, 0, 60, 90, 1]\nStep 2: [65, 35, 17, 0, 60, 90, 1]\nStep 3: [65, 35, 17, 0, 60, 90, 0]\nStep 4: [65, 35, 30, 0, 60, 90, 0]\nStep 5: [71, 34, 30, 0, 60, 90, 0]\nStep 6: [71, 34, 23, 0, 60, 90, 1]", "role": "assistant" } ]