Datasets:

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jan-hq

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Pick-Place-Table-Reasoning

like 0

[ [ 52, 87, 30, 0, 60, 90, 1 ], [ 52, 87, 18, 0, 60, 90, 1 ], [ 52, 87, 18, 0, 60, 90, 0 ], [ 52, 87, 30, 0, 60, 90, 0 ], [ 75, 83, 30, 0, 60, 90, 0 ], [ 75, 83, 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: {\"<|maroon|><|star|>\": 17, \"<|magenta|><|triangular prism|>\": 18, \"<|navy|><|cylinder|>\": 18, \"<|green|><|moon|>\": 17, \"<|teal|><|cube|>\": 17}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the magenta triangular prism on top of the teal cube\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|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|><|maroon|><|star|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|green|><|moon|><|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|><|navy|><|cylinder|><|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|><|teal|><|cube|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|magenta|><|triangular prism|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|magenta|><|triangular prism|> found at <|21-13|> with height 18\nTarget Placement Location: <|teal|><|cube|> at <|20-18|> with height 17\nPLAN ACTIONS:\nStep 1: Move above <|magenta|><|triangular prism|> at <|21-13|> with height 30\nStep 2: Lower to <|magenta|><|triangular prism|> at <|21-13|> with height 18\nStep 3: Close gripper on <|magenta|><|triangular prism|> at <|21-13|> with height 18\nStep 4: Lift <|magenta|><|triangular prism|> at <|21-13|> to height 30\nStep 5: Move to <|teal|><|cube|> location at <|20-18|> with height 30\nStep 6: Stack on top of <|teal|><|cube|> location at <|20-18|> with height 17 + 4 and open gripper\n\n</think>\n\nStep 1: [\"<|21-13|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|21-13|>\", 18, 0, 60, 90, 1]\nStep 3: [\"<|21-13|>\", 18, 0, 60, 90, 0]\nStep 4: [\"<|21-13|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|20-18|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|20-18|>\", 21, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 46, 73, 30, 0, 60, 90, 1 ], [ 46, 73, 18, 0, 60, 90, 1 ], [ 46, 73, 18, 0, 60, 90, 0 ], [ 46, 73, 30, 0, 60, 90, 0 ], [ 56, 29, 30, 0, 60, 90, 0 ], [ 56, 29, 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: {\"<|green|><|triangular prism|>\": 17, \"<|gray|><|star|>\": 18, \"<|yellow|><|star|>\": 17, \"<|rose|><|cylinder|>\": 17, \"<|lime|><|triangular prism|>\": 17, \"<|maroon|><|triangular prism|>\": 18}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the maroon triangular prism on top of the green triangular prism\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|rose|><|cylinder|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|green|><|triangular prism|><|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|><|yellow|><|star|><|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|><|gray|><|star|><|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|><|maroon|><|triangular prism|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|lime|><|triangular prism|><|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: <|maroon|><|triangular prism|> found at <|18-11|> with height 18\nTarget Placement Location: <|green|><|triangular prism|> at <|7-14|> with height 17\nPLAN ACTIONS:\nStep 1: Move above <|maroon|><|triangular prism|> at <|18-11|> with height 30\nStep 2: Lower to <|maroon|><|triangular prism|> at <|18-11|> with height 18\nStep 3: Close gripper on <|maroon|><|triangular prism|> at <|18-11|> with height 18\nStep 4: Lift <|maroon|><|triangular prism|> at <|18-11|> to height 30\nStep 5: Move to <|green|><|triangular prism|> location at <|7-14|> with height 30\nStep 6: Stack on top of <|green|><|triangular prism|> location at <|7-14|> with height 17 + 4 and open gripper\n\n</think>\n\nStep 1: [\"<|18-11|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|18-11|>\", 18, 0, 60, 90, 1]\nStep 3: [\"<|18-11|>\", 18, 0, 60, 90, 0]\nStep 4: [\"<|18-11|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|7-14|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|7-14|>\", 21, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 57, 64, 30, 0, 60, 90, 1 ], [ 57, 64, 17, 0, 60, 90, 1 ], [ 57, 64, 17, 0, 60, 90, 0 ], [ 57, 64, 30, 0, 60, 90, 0 ], [ 41, 73, 30, 0, 60, 90, 0 ], [ 41, 73, 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: {\"<|olive|><|star|>\": 17, \"<|black|><|triangular prism|>\": 18, \"<|black|><|container|>\": 19, \"<|rose|><|cylinder|>\": 17, \"<|magenta|><|star|>\": 18, \"<|white|><|cube|>\": 18}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the rose cylinder and place it into the black container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|magenta|><|star|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|olive|><|star|><|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|><|rose|><|cylinder|><|16-15|><|white|><|cube|><|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|><|black|><|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|><|black|><|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: <|rose|><|cylinder|> found at <|16-14|> with height 17\nTarget Placement Location: <|black|><|container|> at <|18-10|> with height 19\nPLAN ACTIONS:\nStep 1: Move above <|rose|><|cylinder|> at <|16-14|> with height 30\nStep 2: Lower to <|rose|><|cylinder|> at <|16-14|> with height 17\nStep 3: Close gripper on <|rose|><|cylinder|> at <|16-14|> with height 17\nStep 4: Lift <|rose|><|cylinder|> at <|16-14|> to height 30\nStep 5: Move to <|black|><|container|> location at <|18-10|> with height 30\nStep 6: Place inside <|black|><|container|> location at <|18-10|> with height 19 and open gripper\n\n</think>\n\nStep 1: [\"<|16-14|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|16-14|>\", 17, 0, 60, 90, 1]\nStep 3: [\"<|16-14|>\", 17, 0, 60, 90, 0]\nStep 4: [\"<|16-14|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|18-10|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|18-10|>\", 19, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 89, 47, 30, 0, 60, 90, 1 ], [ 89, 47, 18, 0, 60, 90, 1 ], [ 89, 47, 18, 0, 60, 90, 0 ], [ 89, 47, 30, 0, 60, 90, 0 ], [ 70, 89, 30, 0, 60, 90, 0 ], [ 70, 89, 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|><|cylinder|>\": 18, \"<|silver|><|triangular prism|>\": 18, \"<|silver|><|cylinder|>\": 17, \"<|gray|><|cylinder|>\": 19, \"<|blue|><|moon|>\": 18, \"<|rose|><|cube|>\": 18}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the silver triangular prism on top of the gray cylinder\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|rose|><|cube|><|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|><|azure|><|cylinder|><|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|><|blue|><|moon|><|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|><|silver|><|triangular prism|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|silver|><|cylinder|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|gray|><|cylinder|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|silver|><|triangular prism|> found at <|11-22|> with height 18\nTarget Placement Location: <|gray|><|cylinder|> at <|22-17|> with height 19\nPLAN ACTIONS:\nStep 1: Move above <|silver|><|triangular prism|> at <|11-22|> with height 30\nStep 2: Lower to <|silver|><|triangular prism|> at <|11-22|> with height 18\nStep 3: Close gripper on <|silver|><|triangular prism|> at <|11-22|> with height 18\nStep 4: Lift <|silver|><|triangular prism|> at <|11-22|> to height 30\nStep 5: Move to <|gray|><|cylinder|> location at <|22-17|> with height 30\nStep 6: Stack on top of <|gray|><|cylinder|> location at <|22-17|> with height 19 + 4 and open gripper\n\n</think>\n\nStep 1: [\"<|11-22|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|11-22|>\", 18, 0, 60, 90, 1]\nStep 3: [\"<|11-22|>\", 18, 0, 60, 90, 0]\nStep 4: [\"<|11-22|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|22-17|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|22-17|>\", 23, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 33, 76, 30, 0, 60, 90, 1 ], [ 33, 76, 18, 0, 60, 90, 1 ], [ 33, 76, 18, 0, 60, 90, 0 ], [ 33, 76, 30, 0, 60, 90, 0 ], [ 88, 47, 30, 0, 60, 90, 0 ], [ 88, 47, 19, 0, 60, 90, 1 ] ]

[ { "content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\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: {\"<|olive|><|moon|>\": 18, \"<|magenta|><|triangular prism|>\": 18, \"<|white|><|star|>\": 18, \"<|yellow|><|moon|>\": 17, \"<|white|><|container|>\": 19}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the magenta triangular prism and place it into the white container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|olive|><|moon|><|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|><|yellow|><|moon|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|white|><|container|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|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|><|white|><|star|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|magenta|><|triangular prism|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|magenta|><|triangular prism|> found at <|19-8|> with height 18\nTarget Placement Location: <|white|><|container|> at <|11-22|> with height 19\nPLAN ACTIONS:\nStep 1: Move above <|magenta|><|triangular prism|> at <|19-8|> with height 30\nStep 2: Lower to <|magenta|><|triangular prism|> at <|19-8|> with height 18\nStep 3: Close gripper on <|magenta|><|triangular prism|> at <|19-8|> with height 18\nStep 4: Lift <|magenta|><|triangular prism|> at <|19-8|> to height 30\nStep 5: Move to <|white|><|container|> location at <|11-22|> with height 30\nStep 6: Place inside <|white|><|container|> location at <|11-22|> with height 19 and open gripper\n\n</think>\n\nStep 1: [\"<|19-8|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|19-8|>\", 18, 0, 60, 90, 1]\nStep 3: [\"<|19-8|>\", 18, 0, 60, 90, 0]\nStep 4: [\"<|19-8|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|11-22|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|11-22|>\", 19, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 42, 50, 30, 0, 60, 90, 1 ], [ 42, 50, 18, 0, 60, 90, 1 ], [ 42, 50, 18, 0, 60, 90, 0 ], [ 42, 50, 30, 0, 60, 90, 0 ], [ 30, 47, 30, 0, 60, 90, 0 ], [ 30, 47, 22, 0, 60, 90, 1 ] ]

[ { "content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\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|><|cube|>\": 18, \"<|lime|><|cylinder|>\": 17, \"<|azure|><|star|>\": 17, \"<|purple|><|star|>\": 17, \"<|maroon|><|cube|>\": 18, \"<|green|><|moon|>\": 18, \"<|yellow|><|cube|>\": 17}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the purple cube on top of the green 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|><|lime|><|cylinder|><|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|><|yellow|><|cube|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|green|><|moon|><|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|><|maroon|><|cube|><|12-9|><|empty|><|12-10|><|purple|><|cube|><|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|><|azure|><|star|><|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|><|purple|><|star|><|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: <|purple|><|cube|> found at <|12-10|> with height 18\nTarget Placement Location: <|green|><|moon|> at <|11-7|> with height 18\nPLAN ACTIONS:\nStep 1: Move above <|purple|><|cube|> at <|12-10|> with height 30\nStep 2: Lower to <|purple|><|cube|> at <|12-10|> with height 18\nStep 3: Close gripper on <|purple|><|cube|> at <|12-10|> with height 18\nStep 4: Lift <|purple|><|cube|> at <|12-10|> to height 30\nStep 5: Move to <|green|><|moon|> location at <|11-7|> with height 30\nStep 6: Stack on top of <|green|><|moon|> location at <|11-7|> with height 18 + 4 and open gripper\n\n</think>\n\nStep 1: [\"<|12-10|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|12-10|>\", 18, 0, 60, 90, 1]\nStep 3: [\"<|12-10|>\", 18, 0, 60, 90, 0]\nStep 4: [\"<|12-10|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|11-7|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|11-7|>\", 22, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 82, 21, 30, 0, 60, 90, 1 ], [ 82, 21, 18, 0, 60, 90, 1 ], [ 82, 21, 18, 0, 60, 90, 0 ], [ 82, 21, 30, 0, 60, 90, 0 ], [ 20, 56, 30, 0, 60, 90, 0 ], [ 20, 56, 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: {\"<|teal|><|moon|>\": 17, \"<|olive|><|cube|>\": 18, \"<|green|><|cylinder|>\": 17, \"<|blue|><|moon|>\": 17, \"<|magenta|><|container|>\": 17}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the olive cube and place it into the magenta container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|green|><|cylinder|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|olive|><|cube|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|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|><|magenta|><|container|><|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|><|teal|><|moon|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|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|><|blue|><|moon|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|olive|><|cube|> found at <|5-20|> with height 18\nTarget Placement Location: <|magenta|><|container|> at <|14-5|> with height 17\nPLAN ACTIONS:\nStep 1: Move above <|olive|><|cube|> at <|5-20|> with height 30\nStep 2: Lower to <|olive|><|cube|> at <|5-20|> with height 18\nStep 3: Close gripper on <|olive|><|cube|> at <|5-20|> with height 18\nStep 4: Lift <|olive|><|cube|> at <|5-20|> to height 30\nStep 5: Move to <|magenta|><|container|> location at <|14-5|> with height 30\nStep 6: Place inside <|magenta|><|container|> location at <|14-5|> with height 17 and open gripper\n\n</think>\n\nStep 1: [\"<|5-20|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|5-20|>\", 18, 0, 60, 90, 1]\nStep 3: [\"<|5-20|>\", 18, 0, 60, 90, 0]\nStep 4: [\"<|5-20|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|14-5|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|14-5|>\", 17, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 51, 65, 30, 0, 60, 90, 1 ], [ 51, 65, 18, 0, 60, 90, 1 ], [ 51, 65, 18, 0, 60, 90, 0 ], [ 51, 65, 30, 0, 60, 90, 0 ], [ 46, 62, 30, 0, 60, 90, 0 ], [ 46, 62, 21, 0, 60, 90, 1 ] ]

[ { "content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\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: {\"<|silver|><|cube|>\": 17, \"<|teal|><|moon|>\": 18, \"<|white|><|triangular prism|>\": 17, \"<|olive|><|cylinder|>\": 18, \"<|green|><|moon|>\": 17}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the teal moon on top of the green 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|><|silver|><|cube|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|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|><|green|><|moon|><|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|><|teal|><|moon|><|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|><|white|><|triangular prism|><|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|><|olive|><|cylinder|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|teal|><|moon|> found at <|16-12|> with height 18\nTarget Placement Location: <|green|><|moon|> at <|15-11|> with height 17\nPLAN ACTIONS:\nStep 1: Move above <|teal|><|moon|> at <|16-12|> with height 30\nStep 2: Lower to <|teal|><|moon|> at <|16-12|> with height 18\nStep 3: Close gripper on <|teal|><|moon|> at <|16-12|> with height 18\nStep 4: Lift <|teal|><|moon|> at <|16-12|> to height 30\nStep 5: Move to <|green|><|moon|> location at <|15-11|> with height 30\nStep 6: Stack on top of <|green|><|moon|> location at <|15-11|> with height 17 + 4 and open gripper\n\n</think>\n\nStep 1: [\"<|16-12|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|16-12|>\", 18, 0, 60, 90, 1]\nStep 3: [\"<|16-12|>\", 18, 0, 60, 90, 0]\nStep 4: [\"<|16-12|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|15-11|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|15-11|>\", 21, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 40, 27, 30, 0, 60, 90, 1 ], [ 40, 27, 18, 0, 60, 90, 1 ], [ 40, 27, 18, 0, 60, 90, 0 ], [ 40, 27, 30, 0, 60, 90, 0 ], [ 42, 37, 30, 0, 60, 90, 0 ], [ 42, 37, 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: {\"<|rose|><|cylinder|>\": 17, \"<|lime|><|star|>\": 18, \"<|azure|><|container|>\": 17, \"<|rose|><|triangular prism|>\": 18, \"<|rose|><|moon|>\": 18}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the lime star and place it into the azure container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|lime|><|star|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|rose|><|cylinder|><|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|><|azure|><|container|><|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|><|rose|><|triangular prism|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|rose|><|moon|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|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: <|lime|><|star|> found at <|6-10|> with height 18\nTarget Placement Location: <|azure|><|container|> at <|9-10|> with height 17\nPLAN ACTIONS:\nStep 1: Move above <|lime|><|star|> at <|6-10|> with height 30\nStep 2: Lower to <|lime|><|star|> at <|6-10|> with height 18\nStep 3: Close gripper on <|lime|><|star|> at <|6-10|> with height 18\nStep 4: Lift <|lime|><|star|> at <|6-10|> to height 30\nStep 5: Move to <|azure|><|container|> location at <|9-10|> with height 30\nStep 6: Place inside <|azure|><|container|> location at <|9-10|> with height 17 and open gripper\n\n</think>\n\nStep 1: [\"<|6-10|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|6-10|>\", 18, 0, 60, 90, 1]\nStep 3: [\"<|6-10|>\", 18, 0, 60, 90, 0]\nStep 4: [\"<|6-10|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|9-10|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|9-10|>\", 17, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 78, 48, 30, 0, 60, 90, 1 ], [ 78, 48, 18, 0, 60, 90, 1 ], [ 78, 48, 18, 0, 60, 90, 0 ], [ 78, 48, 30, 0, 60, 90, 0 ], [ 55, 50, 30, 0, 60, 90, 0 ], [ 55, 50, 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: {\"<|teal|><|container|>\": 18, \"<|green|><|cylinder|>\": 18, \"<|lime|><|cylinder|>\": 18, \"<|green|><|moon|>\": 18, \"<|blue|><|star|>\": 18, \"<|olive|><|cylinder|>\": 18, \"<|black|><|cube|>\": 17}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the olive cylinder and place it into the teal container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|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|><|lime|><|cylinder|><|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|><|green|><|moon|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|teal|><|container|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|olive|><|cylinder|><|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|><|green|><|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|><|black|><|cube|><|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|><|blue|><|star|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|olive|><|cylinder|> found at <|12-19|> with height 18\nTarget Placement Location: <|teal|><|container|> at <|12-13|> with height 18\nPLAN ACTIONS:\nStep 1: Move above <|olive|><|cylinder|> at <|12-19|> with height 30\nStep 2: Lower to <|olive|><|cylinder|> at <|12-19|> with height 18\nStep 3: Close gripper on <|olive|><|cylinder|> at <|12-19|> with height 18\nStep 4: Lift <|olive|><|cylinder|> at <|12-19|> to height 30\nStep 5: Move to <|teal|><|container|> location at <|12-13|> with height 30\nStep 6: Place inside <|teal|><|container|> location at <|12-13|> with height 18 and open gripper\n\n</think>\n\nStep 1: [\"<|12-19|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|12-19|>\", 18, 0, 60, 90, 1]\nStep 3: [\"<|12-19|>\", 18, 0, 60, 90, 0]\nStep 4: [\"<|12-19|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|12-13|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|12-13|>\", 18, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 81, 58, 30, 0, 60, 90, 1 ], [ 81, 58, 18, 0, 60, 90, 1 ], [ 81, 58, 18, 0, 60, 90, 0 ], [ 81, 58, 30, 0, 60, 90, 0 ], [ 75, 46, 30, 0, 60, 90, 0 ], [ 75, 46, 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: {\"<|silver|><|cube|>\": 18, \"<|lime|><|cylinder|>\": 18, \"<|cyan|><|cube|>\": 17, \"<|yellow|><|cube|>\": 17, \"<|teal|><|cylinder|>\": 17}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the lime cylinder on top of the teal cylinder\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|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|><|silver|><|cube|><|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|><|yellow|><|cube|><|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|><|cyan|><|cube|><|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|><|teal|><|cylinder|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|lime|><|cylinder|><|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: <|lime|><|cylinder|> found at <|14-20|> with height 18\nTarget Placement Location: <|teal|><|cylinder|> at <|11-18|> with height 17\nPLAN ACTIONS:\nStep 1: Move above <|lime|><|cylinder|> at <|14-20|> with height 30\nStep 2: Lower to <|lime|><|cylinder|> at <|14-20|> with height 18\nStep 3: Close gripper on <|lime|><|cylinder|> at <|14-20|> with height 18\nStep 4: Lift <|lime|><|cylinder|> at <|14-20|> to height 30\nStep 5: Move to <|teal|><|cylinder|> location at <|11-18|> with height 30\nStep 6: Stack on top of <|teal|><|cylinder|> location at <|11-18|> with height 17 + 4 and open gripper\n\n</think>\n\nStep 1: [\"<|14-20|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|14-20|>\", 18, 0, 60, 90, 1]\nStep 3: [\"<|14-20|>\", 18, 0, 60, 90, 0]\nStep 4: [\"<|14-20|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|11-18|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|11-18|>\", 21, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 67, 22, 30, 0, 60, 90, 1 ], [ 67, 22, 18, 0, 60, 90, 1 ], [ 67, 22, 18, 0, 60, 90, 0 ], [ 67, 22, 30, 0, 60, 90, 0 ], [ 35, 67, 30, 0, 60, 90, 0 ], [ 35, 67, 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, \"<|red|><|triangular prism|>\": 18, \"<|purple|><|cylinder|>\": 18, \"<|cyan|><|cube|>\": 17, \"<|rose|><|cylinder|>\": 18, \"<|white|><|cylinder|>\": 18, \"<|black|><|moon|>\": 18}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the red triangular prism on top of the 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|><|empty|><|5-15|><|empty|><|5-16|><|red|><|triangular prism|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|cyan|><|cube|><|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|><|purple|><|cylinder|><|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|><|white|><|cylinder|><|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|><|black|><|moon|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|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|><|rose|><|cylinder|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|red|><|triangular prism|> found at <|5-16|> with height 18\nTarget Placement Location: <|gray|><|triangular prism|> at <|16-8|> with height 19\nPLAN ACTIONS:\nStep 1: Move above <|red|><|triangular prism|> at <|5-16|> with height 30\nStep 2: Lower to <|red|><|triangular prism|> at <|5-16|> with height 18\nStep 3: Close gripper on <|red|><|triangular prism|> at <|5-16|> with height 18\nStep 4: Lift <|red|><|triangular prism|> at <|5-16|> to height 30\nStep 5: Move to <|gray|><|triangular prism|> location at <|16-8|> with height 30\nStep 6: Stack on top of <|gray|><|triangular prism|> location at <|16-8|> with height 19 + 4 and open gripper\n\n</think>\n\nStep 1: [\"<|5-16|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|5-16|>\", 18, 0, 60, 90, 1]\nStep 3: [\"<|5-16|>\", 18, 0, 60, 90, 0]\nStep 4: [\"<|5-16|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|16-8|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|16-8|>\", 23, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 27, 55, 30, 0, 60, 90, 1 ], [ 27, 55, 18, 0, 60, 90, 1 ], [ 27, 55, 18, 0, 60, 90, 0 ], [ 27, 55, 30, 0, 60, 90, 0 ], [ 39, 49, 30, 0, 60, 90, 0 ], [ 39, 49, 22, 0, 60, 90, 1 ] ]

[ { "content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\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|><|triangular prism|>\": 18, \"<|green|><|moon|>\": 18, \"<|yellow|><|triangular prism|>\": 18, \"<|cyan|><|cube|>\": 17, \"<|silver|><|cube|>\": 18, \"<|lime|><|star|>\": 17}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the silver cube on top of the magenta triangular prism\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|yellow|><|triangular prism|><|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|><|lime|><|star|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|cyan|><|cube|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|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|><|magenta|><|triangular prism|><|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|><|silver|><|cube|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|green|><|moon|><|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: <|silver|><|cube|> found at <|13-6|> with height 18\nTarget Placement Location: <|magenta|><|triangular prism|> at <|12-9|> with height 18\nPLAN ACTIONS:\nStep 1: Move above <|silver|><|cube|> at <|13-6|> with height 30\nStep 2: Lower to <|silver|><|cube|> at <|13-6|> with height 18\nStep 3: Close gripper on <|silver|><|cube|> at <|13-6|> with height 18\nStep 4: Lift <|silver|><|cube|> at <|13-6|> to height 30\nStep 5: Move to <|magenta|><|triangular prism|> location at <|12-9|> with height 30\nStep 6: Stack on top of <|magenta|><|triangular prism|> location at <|12-9|> with height 18 + 4 and open gripper\n\n</think>\n\nStep 1: [\"<|13-6|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|13-6|>\", 18, 0, 60, 90, 1]\nStep 3: [\"<|13-6|>\", 18, 0, 60, 90, 0]\nStep 4: [\"<|13-6|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|12-9|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|12-9|>\", 22, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 24, 76, 30, 0, 60, 90, 1 ], [ 24, 76, 18, 0, 60, 90, 1 ], [ 24, 76, 18, 0, 60, 90, 0 ], [ 24, 76, 30, 0, 60, 90, 0 ], [ 52, 20, 30, 0, 60, 90, 0 ], [ 52, 20, 19, 0, 60, 90, 1 ] ]

[ { "content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\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|><|container|>\": 19, \"<|green|><|cube|>\": 18, \"<|olive|><|star|>\": 18, \"<|red|><|moon|>\": 18, \"<|purple|><|triangular prism|>\": 17, \"<|gray|><|star|>\": 18}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the red moon and place it into the gray container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|gray|><|container|><|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|><|purple|><|triangular prism|><|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|><|olive|><|star|><|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|><|gray|><|star|><|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|><|red|><|moon|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|green|><|cube|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|red|><|moon|> found at <|19-6|> with height 18\nTarget Placement Location: <|gray|><|container|> at <|5-13|> with height 19\nPLAN ACTIONS:\nStep 1: Move above <|red|><|moon|> at <|19-6|> with height 30\nStep 2: Lower to <|red|><|moon|> at <|19-6|> with height 18\nStep 3: Close gripper on <|red|><|moon|> at <|19-6|> with height 18\nStep 4: Lift <|red|><|moon|> at <|19-6|> to height 30\nStep 5: Move to <|gray|><|container|> location at <|5-13|> with height 30\nStep 6: Place inside <|gray|><|container|> location at <|5-13|> with height 19 and open gripper\n\n</think>\n\nStep 1: [\"<|19-6|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|19-6|>\", 18, 0, 60, 90, 1]\nStep 3: [\"<|19-6|>\", 18, 0, 60, 90, 0]\nStep 4: [\"<|19-6|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|5-13|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|5-13|>\", 19, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 41, 79, 30, 0, 60, 90, 1 ], [ 41, 79, 17, 0, 60, 90, 1 ], [ 41, 79, 17, 0, 60, 90, 0 ], [ 41, 79, 30, 0, 60, 90, 0 ], [ 77, 84, 30, 0, 60, 90, 0 ], [ 77, 84, 22, 0, 60, 90, 1 ] ]

[ { "content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\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|><|cylinder|>\": 17, \"<|maroon|><|cylinder|>\": 17, \"<|magenta|><|star|>\": 18, \"<|azure|><|moon|>\": 17, \"<|violet|><|cylinder|>\": 17, \"<|yellow|><|cylinder|>\": 17, \"<|white|><|moon|>\": 18}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the azure moon 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|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|maroon|><|cylinder|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|gray|><|cylinder|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|yellow|><|cylinder|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|azure|><|moon|><|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|><|magenta|><|star|><|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|><|white|><|moon|><|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|><|violet|><|cylinder|><|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 <|19-10|> with height 17\nTarget Placement Location: <|white|><|moon|> at <|21-19|> with height 18\nPLAN ACTIONS:\nStep 1: Move above <|azure|><|moon|> at <|19-10|> with height 30\nStep 2: Lower to <|azure|><|moon|> at <|19-10|> with height 17\nStep 3: Close gripper on <|azure|><|moon|> at <|19-10|> with height 17\nStep 4: Lift <|azure|><|moon|> at <|19-10|> to height 30\nStep 5: Move to <|white|><|moon|> location at <|21-19|> with height 30\nStep 6: Stack on top of <|white|><|moon|> location at <|21-19|> with height 18 + 4 and open gripper\n\n</think>\n\nStep 1: [\"<|19-10|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|19-10|>\", 17, 0, 60, 90, 1]\nStep 3: [\"<|19-10|>\", 17, 0, 60, 90, 0]\nStep 4: [\"<|19-10|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|21-19|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|21-19|>\", 22, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 80, 36, 30, 0, 60, 90, 1 ], [ 80, 36, 17, 0, 60, 90, 1 ], [ 80, 36, 17, 0, 60, 90, 0 ], [ 80, 36, 30, 0, 60, 90, 0 ], [ 29, 15, 30, 0, 60, 90, 0 ], [ 29, 15, 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: {\"<|gray|><|moon|>\": 17, \"<|yellow|><|moon|>\": 17, \"<|violet|><|moon|>\": 18, \"<|teal|><|moon|>\": 17, \"<|blue|><|moon|>\": 17}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the blue moon on top of the gray 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|><|gray|><|moon|><|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|><|yellow|><|moon|><|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|><|teal|><|moon|><|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|><|blue|><|moon|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|violet|><|moon|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|blue|><|moon|> found at <|9-20|> with height 17\nTarget Placement Location: <|gray|><|moon|> at <|3-7|> with height 17\nPLAN ACTIONS:\nStep 1: Move above <|blue|><|moon|> at <|9-20|> with height 30\nStep 2: Lower to <|blue|><|moon|> at <|9-20|> with height 17\nStep 3: Close gripper on <|blue|><|moon|> at <|9-20|> with height 17\nStep 4: Lift <|blue|><|moon|> at <|9-20|> to height 30\nStep 5: Move to <|gray|><|moon|> location at <|3-7|> with height 30\nStep 6: Stack on top of <|gray|><|moon|> location at <|3-7|> with height 17 + 4 and open gripper\n\n</think>\n\nStep 1: [\"<|9-20|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|9-20|>\", 17, 0, 60, 90, 1]\nStep 3: [\"<|9-20|>\", 17, 0, 60, 90, 0]\nStep 4: [\"<|9-20|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|3-7|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|3-7|>\", 21, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 33, 59, 30, 0, 60, 90, 1 ], [ 33, 59, 18, 0, 60, 90, 1 ], [ 33, 59, 18, 0, 60, 90, 0 ], [ 33, 59, 30, 0, 60, 90, 0 ], [ 27, 32, 30, 0, 60, 90, 0 ], [ 27, 32, 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: {\"<|cyan|><|moon|>\": 17, \"<|purple|><|cube|>\": 18, \"<|teal|><|cube|>\": 17, \"<|maroon|><|cylinder|>\": 18, \"<|violet|><|star|>\": 17, \"<|purple|><|triangular prism|>\": 19, \"<|maroon|><|moon|>\": 18}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the maroon cylinder 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|><|purple|><|cube|><|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|><|purple|><|triangular prism|><|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|><|teal|><|cube|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|maroon|><|cylinder|><|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|><|cyan|><|moon|><|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|><|violet|><|star|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|maroon|><|moon|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|maroon|><|cylinder|> found at <|14-8|> with height 18\nTarget Placement Location: <|purple|><|triangular prism|> at <|8-6|> with height 19\nPLAN ACTIONS:\nStep 1: Move above <|maroon|><|cylinder|> at <|14-8|> with height 30\nStep 2: Lower to <|maroon|><|cylinder|> at <|14-8|> with height 18\nStep 3: Close gripper on <|maroon|><|cylinder|> at <|14-8|> with height 18\nStep 4: Lift <|maroon|><|cylinder|> at <|14-8|> to height 30\nStep 5: Move to <|purple|><|triangular prism|> location at <|8-6|> with height 30\nStep 6: Stack on top of <|purple|><|triangular prism|> location at <|8-6|> with height 19 + 4 and open gripper\n\n</think>\n\nStep 1: [\"<|14-8|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|14-8|>\", 18, 0, 60, 90, 1]\nStep 3: [\"<|14-8|>\", 18, 0, 60, 90, 0]\nStep 4: [\"<|14-8|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|8-6|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|8-6|>\", 23, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 38, 69, 30, 0, 60, 90, 1 ], [ 38, 69, 18, 0, 60, 90, 1 ], [ 38, 69, 18, 0, 60, 90, 0 ], [ 38, 69, 30, 0, 60, 90, 0 ], [ 86, 49, 30, 0, 60, 90, 0 ], [ 86, 49, 23, 0, 60, 90, 1 ] ]

[ { "content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\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|><|star|>\": 19, \"<|maroon|><|moon|>\": 18, \"<|white|><|moon|>\": 17, \"<|rose|><|star|>\": 17, \"<|yellow|><|cylinder|>\": 17, \"<|red|><|cylinder|>\": 18}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the maroon moon on top of the blue star\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|rose|><|star|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|yellow|><|cylinder|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|white|><|moon|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|blue|><|star|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|red|><|cylinder|><|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|><|maroon|><|moon|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|maroon|><|moon|> found at <|17-9|> with height 18\nTarget Placement Location: <|blue|><|star|> at <|12-21|> with height 19\nPLAN ACTIONS:\nStep 1: Move above <|maroon|><|moon|> at <|17-9|> with height 30\nStep 2: Lower to <|maroon|><|moon|> at <|17-9|> with height 18\nStep 3: Close gripper on <|maroon|><|moon|> at <|17-9|> with height 18\nStep 4: Lift <|maroon|><|moon|> at <|17-9|> to height 30\nStep 5: Move to <|blue|><|star|> location at <|12-21|> with height 30\nStep 6: Stack on top of <|blue|><|star|> location at <|12-21|> with height 19 + 4 and open gripper\n\n</think>\n\nStep 1: [\"<|17-9|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|17-9|>\", 18, 0, 60, 90, 1]\nStep 3: [\"<|17-9|>\", 18, 0, 60, 90, 0]\nStep 4: [\"<|17-9|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|12-21|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|12-21|>\", 23, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 34, 35, 30, 0, 60, 90, 1 ], [ 34, 35, 18, 0, 60, 90, 1 ], [ 34, 35, 18, 0, 60, 90, 0 ], [ 34, 35, 30, 0, 60, 90, 0 ], [ 44, 31, 30, 0, 60, 90, 0 ], [ 44, 31, 18, 0, 60, 90, 1 ] ]

[ { "content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\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, \"<|blue|><|container|>\": 18, \"<|cyan|><|triangular prism|>\": 18, \"<|black|><|cube|>\": 18, \"<|green|><|star|>\": 17}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the black cube and place it into the blue container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|blue|><|container|><|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|><|black|><|cube|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|cyan|><|triangular prism|><|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|><|green|><|star|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|teal|><|cube|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|black|><|cube|> found at <|8-8|> with height 18\nTarget Placement Location: <|blue|><|container|> at <|7-11|> with height 18\nPLAN ACTIONS:\nStep 1: Move above <|black|><|cube|> at <|8-8|> with height 30\nStep 2: Lower to <|black|><|cube|> at <|8-8|> with height 18\nStep 3: Close gripper on <|black|><|cube|> at <|8-8|> with height 18\nStep 4: Lift <|black|><|cube|> at <|8-8|> to height 30\nStep 5: Move to <|blue|><|container|> location at <|7-11|> with height 30\nStep 6: Place inside <|blue|><|container|> location at <|7-11|> with height 18 and open gripper\n\n</think>\n\nStep 1: [\"<|8-8|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|8-8|>\", 18, 0, 60, 90, 1]\nStep 3: [\"<|8-8|>\", 18, 0, 60, 90, 0]\nStep 4: [\"<|8-8|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|7-11|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|7-11|>\", 18, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 78, 58, 30, 0, 60, 90, 1 ], [ 78, 58, 17, 0, 60, 90, 1 ], [ 78, 58, 17, 0, 60, 90, 0 ], [ 78, 58, 30, 0, 60, 90, 0 ], [ 60, 68, 30, 0, 60, 90, 0 ], [ 60, 68, 22, 0, 60, 90, 1 ] ]

[ { "content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\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: {\"<|violet|><|star|>\": 18, \"<|azure|><|moon|>\": 17, \"<|purple|><|cube|>\": 18, \"<|lime|><|triangular prism|>\": 18, \"<|rose|><|moon|>\": 17}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the rose moon on top of the 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|><|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|><|azure|><|moon|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|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|><|rose|><|moon|><|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|><|violet|><|star|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|purple|><|cube|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|lime|><|triangular prism|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|rose|><|moon|> found at <|14-19|> with height 17\nTarget Placement Location: <|purple|><|cube|> at <|17-15|> with height 18\nPLAN ACTIONS:\nStep 1: Move above <|rose|><|moon|> at <|14-19|> with height 30\nStep 2: Lower to <|rose|><|moon|> at <|14-19|> with height 17\nStep 3: Close gripper on <|rose|><|moon|> at <|14-19|> with height 17\nStep 4: Lift <|rose|><|moon|> at <|14-19|> to height 30\nStep 5: Move to <|purple|><|cube|> location at <|17-15|> with height 30\nStep 6: Stack on top of <|purple|><|cube|> location at <|17-15|> with height 18 + 4 and open gripper\n\n</think>\n\nStep 1: [\"<|14-19|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|14-19|>\", 17, 0, 60, 90, 1]\nStep 3: [\"<|14-19|>\", 17, 0, 60, 90, 0]\nStep 4: [\"<|14-19|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|17-15|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|17-15|>\", 22, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 35, 55, 30, 0, 60, 90, 1 ], [ 35, 55, 18, 0, 60, 90, 1 ], [ 35, 55, 18, 0, 60, 90, 0 ], [ 35, 55, 30, 0, 60, 90, 0 ], [ 19, 83, 30, 0, 60, 90, 0 ], [ 19, 83, 22, 0, 60, 90, 1 ] ]

[ { "content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\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|><|star|>\": 17, \"<|lime|><|star|>\": 18, \"<|cyan|><|triangular prism|>\": 18, \"<|green|><|cube|>\": 18, \"<|rose|><|cylinder|>\": 17, \"<|azure|><|cylinder|>\": 18, \"<|white|><|moon|>\": 18}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the green cube 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|><|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|><|lime|><|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|><|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|><|green|><|cube|><|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|><|teal|><|star|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|cyan|><|triangular prism|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|rose|><|cylinder|><|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|><|azure|><|cylinder|><|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|><|white|><|moon|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|green|><|cube|> found at <|13-8|> with height 18\nTarget Placement Location: <|white|><|moon|> at <|20-4|> with height 18\nPLAN ACTIONS:\nStep 1: Move above <|green|><|cube|> at <|13-8|> with height 30\nStep 2: Lower to <|green|><|cube|> at <|13-8|> with height 18\nStep 3: Close gripper on <|green|><|cube|> at <|13-8|> with height 18\nStep 4: Lift <|green|><|cube|> at <|13-8|> to height 30\nStep 5: Move to <|white|><|moon|> location at <|20-4|> with height 30\nStep 6: Stack on top of <|white|><|moon|> location at <|20-4|> with height 18 + 4 and open gripper\n\n</think>\n\nStep 1: [\"<|13-8|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|13-8|>\", 18, 0, 60, 90, 1]\nStep 3: [\"<|13-8|>\", 18, 0, 60, 90, 0]\nStep 4: [\"<|13-8|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|20-4|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|20-4|>\", 22, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 78, 85, 30, 0, 60, 90, 1 ], [ 78, 85, 18, 0, 60, 90, 1 ], [ 78, 85, 18, 0, 60, 90, 0 ], [ 78, 85, 30, 0, 60, 90, 0 ], [ 55, 22, 30, 0, 60, 90, 0 ], [ 55, 22, 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: {\"<|white|><|cylinder|>\": 18, \"<|azure|><|moon|>\": 18, \"<|azure|><|triangular prism|>\": 18, \"<|gray|><|star|>\": 18, \"<|navy|><|container|>\": 18, \"<|violet|><|cube|>\": 17, \"<|silver|><|cube|>\": 18}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the silver cube and place it into the navy container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|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|><|navy|><|container|><|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|><|violet|><|cube|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|azure|><|moon|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|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|><|gray|><|star|><|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|><|white|><|cylinder|><|21-19|><|silver|><|cube|><|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|><|azure|><|triangular prism|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|silver|><|cube|> found at <|21-19|> with height 18\nTarget Placement Location: <|navy|><|container|> at <|5-13|> with height 18\nPLAN ACTIONS:\nStep 1: Move above <|silver|><|cube|> at <|21-19|> with height 30\nStep 2: Lower to <|silver|><|cube|> at <|21-19|> with height 18\nStep 3: Close gripper on <|silver|><|cube|> at <|21-19|> with height 18\nStep 4: Lift <|silver|><|cube|> at <|21-19|> to height 30\nStep 5: Move to <|navy|><|container|> location at <|5-13|> with height 30\nStep 6: Place inside <|navy|><|container|> location at <|5-13|> with height 18 and open gripper\n\n</think>\n\nStep 1: [\"<|21-19|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|21-19|>\", 18, 0, 60, 90, 1]\nStep 3: [\"<|21-19|>\", 18, 0, 60, 90, 0]\nStep 4: [\"<|21-19|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|5-13|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|5-13|>\", 18, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 41, 57, 30, 0, 60, 90, 1 ], [ 41, 57, 17, 0, 60, 90, 1 ], [ 41, 57, 17, 0, 60, 90, 0 ], [ 41, 57, 30, 0, 60, 90, 0 ], [ 32, 89, 30, 0, 60, 90, 0 ], [ 32, 89, 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: {\"<|gray|><|moon|>\": 18, \"<|violet|><|container|>\": 18, \"<|green|><|cube|>\": 18, \"<|maroon|><|star|>\": 17, \"<|white|><|cylinder|>\": 17, \"<|yellow|><|cube|>\": 17, \"<|maroon|><|cube|>\": 17}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the white cylinder and place it into the violet container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|maroon|><|cube|><|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|><|maroon|><|star|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|gray|><|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|><|yellow|><|cube|><|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|><|white|><|cylinder|><|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|><|violet|><|container|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|green|><|cube|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|white|><|cylinder|> found at <|14-10|> with height 17\nTarget Placement Location: <|violet|><|container|> at <|22-8|> with height 18\nPLAN ACTIONS:\nStep 1: Move above <|white|><|cylinder|> at <|14-10|> with height 30\nStep 2: Lower to <|white|><|cylinder|> at <|14-10|> with height 17\nStep 3: Close gripper on <|white|><|cylinder|> at <|14-10|> with height 17\nStep 4: Lift <|white|><|cylinder|> at <|14-10|> to height 30\nStep 5: Move to <|violet|><|container|> location at <|22-8|> with height 30\nStep 6: Place inside <|violet|><|container|> location at <|22-8|> with height 18 and open gripper\n\n</think>\n\nStep 1: [\"<|14-10|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|14-10|>\", 17, 0, 60, 90, 1]\nStep 3: [\"<|14-10|>\", 17, 0, 60, 90, 0]\nStep 4: [\"<|14-10|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|22-8|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|22-8|>\", 18, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 65, 28, 30, 0, 60, 90, 1 ], [ 65, 28, 18, 0, 60, 90, 1 ], [ 65, 28, 18, 0, 60, 90, 0 ], [ 65, 28, 30, 0, 60, 90, 0 ], [ 71, 52, 30, 0, 60, 90, 0 ], [ 71, 52, 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|><|star|>\": 18, \"<|violet|><|triangular prism|>\": 17, \"<|navy|><|cylinder|>\": 17, \"<|red|><|cylinder|>\": 19, \"<|magenta|><|star|>\": 17, \"<|black|><|triangular prism|>\": 18}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the black star on top of the red cylinder\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|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|><|black|><|star|><|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|><|violet|><|triangular prism|><|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|><|black|><|triangular prism|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|red|><|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|><|magenta|><|star|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|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|><|navy|><|cylinder|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|black|><|star|> found at <|7-16|> with height 18\nTarget Placement Location: <|red|><|cylinder|> at <|13-17|> with height 19\nPLAN ACTIONS:\nStep 1: Move above <|black|><|star|> at <|7-16|> with height 30\nStep 2: Lower to <|black|><|star|> at <|7-16|> with height 18\nStep 3: Close gripper on <|black|><|star|> at <|7-16|> with height 18\nStep 4: Lift <|black|><|star|> at <|7-16|> to height 30\nStep 5: Move to <|red|><|cylinder|> location at <|13-17|> with height 30\nStep 6: Stack on top of <|red|><|cylinder|> location at <|13-17|> with height 19 + 4 and open gripper\n\n</think>\n\nStep 1: [\"<|7-16|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|7-16|>\", 18, 0, 60, 90, 1]\nStep 3: [\"<|7-16|>\", 18, 0, 60, 90, 0]\nStep 4: [\"<|7-16|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|13-17|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|13-17|>\", 23, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 46, 90, 30, 0, 60, 90, 1 ], [ 46, 90, 17, 0, 60, 90, 1 ], [ 46, 90, 17, 0, 60, 90, 0 ], [ 46, 90, 30, 0, 60, 90, 0 ], [ 18, 60, 30, 0, 60, 90, 0 ], [ 18, 60, 22, 0, 60, 90, 1 ] ]

[ { "content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\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|><|moon|>\": 18, \"<|magenta|><|triangular prism|>\": 17, \"<|gray|><|triangular prism|>\": 17, \"<|magenta|><|moon|>\": 18, \"<|silver|><|moon|>\": 18, \"<|azure|><|moon|>\": 18}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the gray triangular prism on top of the magenta moon\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|teal|><|moon|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|silver|><|moon|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|magenta|><|moon|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|magenta|><|triangular prism|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|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|><|azure|><|moon|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|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|><|gray|><|triangular prism|><|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|><|triangular prism|> found at <|22-11|> with height 17\nTarget Placement Location: <|magenta|><|moon|> at <|15-4|> with height 18\nPLAN ACTIONS:\nStep 1: Move above <|gray|><|triangular prism|> at <|22-11|> with height 30\nStep 2: Lower to <|gray|><|triangular prism|> at <|22-11|> with height 17\nStep 3: Close gripper on <|gray|><|triangular prism|> at <|22-11|> with height 17\nStep 4: Lift <|gray|><|triangular prism|> at <|22-11|> to height 30\nStep 5: Move to <|magenta|><|moon|> location at <|15-4|> with height 30\nStep 6: Stack on top of <|magenta|><|moon|> location at <|15-4|> with height 18 + 4 and open gripper\n\n</think>\n\nStep 1: [\"<|22-11|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|22-11|>\", 17, 0, 60, 90, 1]\nStep 3: [\"<|22-11|>\", 17, 0, 60, 90, 0]\nStep 4: [\"<|22-11|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|15-4|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|15-4|>\", 22, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 55, 74, 30, 0, 60, 90, 1 ], [ 55, 74, 17, 0, 60, 90, 1 ], [ 55, 74, 17, 0, 60, 90, 0 ], [ 55, 74, 30, 0, 60, 90, 0 ], [ 52, 31, 30, 0, 60, 90, 0 ], [ 52, 31, 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, \"<|purple|><|star|>\": 17, \"<|green|><|cylinder|>\": 18, \"<|azure|><|triangular prism|>\": 18, \"<|white|><|cylinder|>\": 17, \"<|silver|><|star|>\": 17, \"<|black|><|cube|>\": 17}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the black cube on top of the purple star\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|purple|><|triangular prism|><|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|><|purple|><|star|><|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|><|silver|><|star|><|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|><|green|><|cylinder|><|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|><|azure|><|triangular prism|><|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|><|black|><|cube|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|white|><|cylinder|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|black|><|cube|> found at <|18-13|> with height 17\nTarget Placement Location: <|purple|><|star|> at <|7-13|> with height 17\nPLAN ACTIONS:\nStep 1: Move above <|black|><|cube|> at <|18-13|> with height 30\nStep 2: Lower to <|black|><|cube|> at <|18-13|> with height 17\nStep 3: Close gripper on <|black|><|cube|> at <|18-13|> with height 17\nStep 4: Lift <|black|><|cube|> at <|18-13|> to height 30\nStep 5: Move to <|purple|><|star|> location at <|7-13|> with height 30\nStep 6: Stack on top of <|purple|><|star|> location at <|7-13|> with height 17 + 4 and open gripper\n\n</think>\n\nStep 1: [\"<|18-13|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|18-13|>\", 17, 0, 60, 90, 1]\nStep 3: [\"<|18-13|>\", 17, 0, 60, 90, 0]\nStep 4: [\"<|18-13|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|7-13|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|7-13|>\", 21, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 56, 83, 30, 0, 60, 90, 1 ], [ 56, 83, 18, 0, 60, 90, 1 ], [ 56, 83, 18, 0, 60, 90, 0 ], [ 56, 83, 30, 0, 60, 90, 0 ], [ 14, 50, 30, 0, 60, 90, 0 ], [ 14, 50, 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: {\"<|red|><|cube|>\": 18, \"<|yellow|><|star|>\": 17, \"<|cyan|><|triangular prism|>\": 18, \"<|magenta|><|triangular prism|>\": 17, \"<|purple|><|cylinder|>\": 17, \"<|violet|><|container|>\": 17, \"<|azure|><|star|>\": 18}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the cyan triangular prism and place it into the violet container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|red|><|cube|><|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|><|yellow|><|star|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|purple|><|cylinder|><|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|><|violet|><|container|><|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|><|magenta|><|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|><|cyan|><|triangular prism|><|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|><|azure|><|star|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\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|><|triangular prism|> found at <|20-14|> with height 18\nTarget Placement Location: <|violet|><|container|> at <|12-3|> with height 17\nPLAN ACTIONS:\nStep 1: Move above <|cyan|><|triangular prism|> at <|20-14|> with height 30\nStep 2: Lower to <|cyan|><|triangular prism|> at <|20-14|> with height 18\nStep 3: Close gripper on <|cyan|><|triangular prism|> at <|20-14|> with height 18\nStep 4: Lift <|cyan|><|triangular prism|> at <|20-14|> to height 30\nStep 5: Move to <|violet|><|container|> location at <|12-3|> with height 30\nStep 6: Place inside <|violet|><|container|> location at <|12-3|> with height 17 and open gripper\n\n</think>\n\nStep 1: [\"<|20-14|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|20-14|>\", 18, 0, 60, 90, 1]\nStep 3: [\"<|20-14|>\", 18, 0, 60, 90, 0]\nStep 4: [\"<|20-14|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|12-3|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|12-3|>\", 17, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 62, 41, 30, 0, 60, 90, 1 ], [ 62, 41, 18, 0, 60, 90, 1 ], [ 62, 41, 18, 0, 60, 90, 0 ], [ 62, 41, 30, 0, 60, 90, 0 ], [ 33, 33, 30, 0, 60, 90, 0 ], [ 33, 33, 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: {\"<|cyan|><|star|>\": 17, \"<|lime|><|cube|>\": 18, \"<|yellow|><|star|>\": 17, \"<|olive|><|triangular prism|>\": 18, \"<|green|><|container|>\": 19, \"<|olive|><|moon|>\": 18, \"<|white|><|star|>\": 18}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the olive triangular prism and place it into the green container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|white|><|star|><|8-8|><|green|><|container|><|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|><|olive|><|triangular prism|><|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|><|cyan|><|star|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|lime|><|cube|><|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|><|yellow|><|star|><|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|><|olive|><|moon|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|olive|><|triangular prism|> found at <|10-15|> with height 18\nTarget Placement Location: <|green|><|container|> at <|8-8|> with height 19\nPLAN ACTIONS:\nStep 1: Move above <|olive|><|triangular prism|> at <|10-15|> with height 30\nStep 2: Lower to <|olive|><|triangular prism|> at <|10-15|> with height 18\nStep 3: Close gripper on <|olive|><|triangular prism|> at <|10-15|> with height 18\nStep 4: Lift <|olive|><|triangular prism|> at <|10-15|> to height 30\nStep 5: Move to <|green|><|container|> location at <|8-8|> with height 30\nStep 6: Place inside <|green|><|container|> location at <|8-8|> with height 19 and open gripper\n\n</think>\n\nStep 1: [\"<|10-15|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|10-15|>\", 18, 0, 60, 90, 1]\nStep 3: [\"<|10-15|>\", 18, 0, 60, 90, 0]\nStep 4: [\"<|10-15|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|8-8|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|8-8|>\", 19, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 68, 58, 30, 0, 60, 90, 1 ], [ 68, 58, 18, 0, 60, 90, 1 ], [ 68, 58, 18, 0, 60, 90, 0 ], [ 68, 58, 30, 0, 60, 90, 0 ], [ 85, 45, 30, 0, 60, 90, 0 ], [ 85, 45, 23, 0, 60, 90, 1 ] ]

[ { "content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\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|><|moon|>\": 19, \"<|silver|><|moon|>\": 18, \"<|teal|><|star|>\": 18, \"<|green|><|triangular prism|>\": 17, \"<|lime|><|star|>\": 18}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the teal star on top of the cyan 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|><|green|><|triangular prism|><|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|><|cyan|><|moon|><|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|><|teal|><|star|><|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|><|silver|><|moon|><|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|><|lime|><|star|><|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|><|star|> found at <|14-17|> with height 18\nTarget Placement Location: <|cyan|><|moon|> at <|11-21|> with height 19\nPLAN ACTIONS:\nStep 1: Move above <|teal|><|star|> at <|14-17|> with height 30\nStep 2: Lower to <|teal|><|star|> at <|14-17|> with height 18\nStep 3: Close gripper on <|teal|><|star|> at <|14-17|> with height 18\nStep 4: Lift <|teal|><|star|> at <|14-17|> to height 30\nStep 5: Move to <|cyan|><|moon|> location at <|11-21|> with height 30\nStep 6: Stack on top of <|cyan|><|moon|> location at <|11-21|> with height 19 + 4 and open gripper\n\n</think>\n\nStep 1: [\"<|14-17|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|14-17|>\", 18, 0, 60, 90, 1]\nStep 3: [\"<|14-17|>\", 18, 0, 60, 90, 0]\nStep 4: [\"<|14-17|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|11-21|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|11-21|>\", 23, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 41, 53, 30, 0, 60, 90, 1 ], [ 41, 53, 18, 0, 60, 90, 1 ], [ 41, 53, 18, 0, 60, 90, 0 ], [ 41, 53, 30, 0, 60, 90, 0 ], [ 22, 27, 30, 0, 60, 90, 0 ], [ 22, 27, 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: {\"<|silver|><|star|>\": 18, \"<|gray|><|moon|>\": 18, \"<|azure|><|container|>\": 19, \"<|violet|><|cube|>\": 18, \"<|yellow|><|triangular prism|>\": 17}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the silver star and place it into the azure container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|azure|><|container|><|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|><|violet|><|cube|><|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|><|gray|><|moon|><|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|><|silver|><|star|><|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|><|yellow|><|triangular prism|><|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: <|silver|><|star|> found at <|13-10|> with height 18\nTarget Placement Location: <|azure|><|container|> at <|6-5|> with height 19\nPLAN ACTIONS:\nStep 1: Move above <|silver|><|star|> at <|13-10|> with height 30\nStep 2: Lower to <|silver|><|star|> at <|13-10|> with height 18\nStep 3: Close gripper on <|silver|><|star|> at <|13-10|> with height 18\nStep 4: Lift <|silver|><|star|> at <|13-10|> to height 30\nStep 5: Move to <|azure|><|container|> location at <|6-5|> with height 30\nStep 6: Place inside <|azure|><|container|> location at <|6-5|> with height 19 and open gripper\n\n</think>\n\nStep 1: [\"<|13-10|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|13-10|>\", 18, 0, 60, 90, 1]\nStep 3: [\"<|13-10|>\", 18, 0, 60, 90, 0]\nStep 4: [\"<|13-10|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|6-5|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|6-5|>\", 19, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 73, 24, 30, 0, 60, 90, 1 ], [ 73, 24, 18, 0, 60, 90, 1 ], [ 73, 24, 18, 0, 60, 90, 0 ], [ 73, 24, 30, 0, 60, 90, 0 ], [ 53, 88, 30, 0, 60, 90, 0 ], [ 53, 88, 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: {\"<|olive|><|moon|>\": 18, \"<|olive|><|cube|>\": 18, \"<|navy|><|container|>\": 18, \"<|magenta|><|moon|>\": 17, \"<|lime|><|moon|>\": 18, \"<|purple|><|star|>\": 17}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the lime moon and place it into the navy container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|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|><|lime|><|moon|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|olive|><|cube|><|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|><|olive|><|moon|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|purple|><|star|><|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|><|magenta|><|moon|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|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|><|navy|><|container|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|lime|><|moon|> found at <|6-18|> with height 18\nTarget Placement Location: <|navy|><|container|> at <|22-13|> with height 18\nPLAN ACTIONS:\nStep 1: Move above <|lime|><|moon|> at <|6-18|> with height 30\nStep 2: Lower to <|lime|><|moon|> at <|6-18|> with height 18\nStep 3: Close gripper on <|lime|><|moon|> at <|6-18|> with height 18\nStep 4: Lift <|lime|><|moon|> at <|6-18|> to height 30\nStep 5: Move to <|navy|><|container|> location at <|22-13|> with height 30\nStep 6: Place inside <|navy|><|container|> location at <|22-13|> with height 18 and open gripper\n\n</think>\n\nStep 1: [\"<|6-18|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|6-18|>\", 18, 0, 60, 90, 1]\nStep 3: [\"<|6-18|>\", 18, 0, 60, 90, 0]\nStep 4: [\"<|6-18|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|22-13|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|22-13|>\", 18, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 38, 23, 30, 0, 60, 90, 1 ], [ 38, 23, 17, 0, 60, 90, 1 ], [ 38, 23, 17, 0, 60, 90, 0 ], [ 38, 23, 30, 0, 60, 90, 0 ], [ 87, 78, 30, 0, 60, 90, 0 ], [ 87, 78, 21, 0, 60, 90, 1 ] ]

[ { "content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\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|><|triangular prism|>\": 17, \"<|magenta|><|cylinder|>\": 17, \"<|violet|><|star|>\": 17, \"<|blue|><|triangular prism|>\": 17, \"<|cyan|><|star|>\": 17}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the cyan star on top of the 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|><|empty|><|5-9|><|cyan|><|star|><|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|><|white|><|triangular prism|><|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|><|magenta|><|cylinder|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|violet|><|star|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|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|><|blue|><|triangular prism|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|cyan|><|star|> found at <|5-9|> with height 17\nTarget Placement Location: <|blue|><|triangular prism|> at <|19-21|> with height 17\nPLAN ACTIONS:\nStep 1: Move above <|cyan|><|star|> at <|5-9|> with height 30\nStep 2: Lower to <|cyan|><|star|> at <|5-9|> with height 17\nStep 3: Close gripper on <|cyan|><|star|> at <|5-9|> with height 17\nStep 4: Lift <|cyan|><|star|> at <|5-9|> to height 30\nStep 5: Move to <|blue|><|triangular prism|> location at <|19-21|> with height 30\nStep 6: Stack on top of <|blue|><|triangular prism|> location at <|19-21|> with height 17 + 4 and open gripper\n\n</think>\n\nStep 1: [\"<|5-9|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|5-9|>\", 17, 0, 60, 90, 1]\nStep 3: [\"<|5-9|>\", 17, 0, 60, 90, 0]\nStep 4: [\"<|5-9|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|19-21|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|19-21|>\", 21, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 26, 87, 30, 0, 60, 90, 1 ], [ 26, 87, 17, 0, 60, 90, 1 ], [ 26, 87, 17, 0, 60, 90, 0 ], [ 26, 87, 30, 0, 60, 90, 0 ], [ 76, 42, 30, 0, 60, 90, 0 ], [ 76, 42, 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: {\"<|teal|><|cylinder|>\": 17, \"<|black|><|cube|>\": 17, \"<|magenta|><|cylinder|>\": 18, \"<|gray|><|cube|>\": 17, \"<|purple|><|triangular prism|>\": 17, \"<|magenta|><|moon|>\": 18}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the teal cylinder on top of the gray cube\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|black|><|cube|><|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|><|gray|><|cube|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|magenta|><|cylinder|><|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|><|magenta|><|moon|><|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|><|purple|><|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|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|teal|><|cylinder|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|teal|><|cylinder|> found at <|21-6|> with height 17\nTarget Placement Location: <|gray|><|cube|> at <|10-19|> with height 17\nPLAN ACTIONS:\nStep 1: Move above <|teal|><|cylinder|> at <|21-6|> with height 30\nStep 2: Lower to <|teal|><|cylinder|> at <|21-6|> with height 17\nStep 3: Close gripper on <|teal|><|cylinder|> at <|21-6|> with height 17\nStep 4: Lift <|teal|><|cylinder|> at <|21-6|> to height 30\nStep 5: Move to <|gray|><|cube|> location at <|10-19|> with height 30\nStep 6: Stack on top of <|gray|><|cube|> location at <|10-19|> with height 17 + 4 and open gripper\n\n</think>\n\nStep 1: [\"<|21-6|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|21-6|>\", 17, 0, 60, 90, 1]\nStep 3: [\"<|21-6|>\", 17, 0, 60, 90, 0]\nStep 4: [\"<|21-6|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|10-19|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|10-19|>\", 21, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 67, 72, 30, 0, 60, 90, 1 ], [ 67, 72, 17, 0, 60, 90, 1 ], [ 67, 72, 17, 0, 60, 90, 0 ], [ 67, 72, 30, 0, 60, 90, 0 ], [ 31, 73, 30, 0, 60, 90, 0 ], [ 31, 73, 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: {\"<|white|><|triangular prism|>\": 18, \"<|gray|><|star|>\": 18, \"<|cyan|><|moon|>\": 18, \"<|black|><|moon|>\": 18, \"<|azure|><|star|>\": 17, \"<|navy|><|cylinder|>\": 17, \"<|yellow|><|cylinder|>\": 17}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the yellow cylinder on top of the navy 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|><|white|><|triangular prism|><|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|><|gray|><|star|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|navy|><|cylinder|><|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|><|yellow|><|cylinder|><|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|><|cyan|><|moon|><|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|><|black|><|moon|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|azure|><|star|><|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: <|yellow|><|cylinder|> found at <|18-16|> with height 17\nTarget Placement Location: <|navy|><|cylinder|> at <|18-7|> with height 17\nPLAN ACTIONS:\nStep 1: Move above <|yellow|><|cylinder|> at <|18-16|> with height 30\nStep 2: Lower to <|yellow|><|cylinder|> at <|18-16|> with height 17\nStep 3: Close gripper on <|yellow|><|cylinder|> at <|18-16|> with height 17\nStep 4: Lift <|yellow|><|cylinder|> at <|18-16|> to height 30\nStep 5: Move to <|navy|><|cylinder|> location at <|18-7|> with height 30\nStep 6: Stack on top of <|navy|><|cylinder|> location at <|18-7|> with height 17 + 4 and open gripper\n\n</think>\n\nStep 1: [\"<|18-16|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|18-16|>\", 17, 0, 60, 90, 1]\nStep 3: [\"<|18-16|>\", 17, 0, 60, 90, 0]\nStep 4: [\"<|18-16|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|18-7|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|18-7|>\", 21, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 47, 42, 30, 0, 60, 90, 1 ], [ 47, 42, 17, 0, 60, 90, 1 ], [ 47, 42, 17, 0, 60, 90, 0 ], [ 47, 42, 30, 0, 60, 90, 0 ], [ 24, 90, 30, 0, 60, 90, 0 ], [ 24, 90, 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: {\"<|magenta|><|moon|>\": 17, \"<|purple|><|container|>\": 19, \"<|olive|><|cube|>\": 17, \"<|blue|><|cube|>\": 17, \"<|green|><|cylinder|>\": 17}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the olive cube and place it into the purple container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|green|><|cylinder|><|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|><|magenta|><|moon|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|olive|><|cube|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|blue|><|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|><|purple|><|container|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|olive|><|cube|> found at <|10-11|> with height 17\nTarget Placement Location: <|purple|><|container|> at <|22-6|> with height 19\nPLAN ACTIONS:\nStep 1: Move above <|olive|><|cube|> at <|10-11|> with height 30\nStep 2: Lower to <|olive|><|cube|> at <|10-11|> with height 17\nStep 3: Close gripper on <|olive|><|cube|> at <|10-11|> with height 17\nStep 4: Lift <|olive|><|cube|> at <|10-11|> to height 30\nStep 5: Move to <|purple|><|container|> location at <|22-6|> with height 30\nStep 6: Place inside <|purple|><|container|> location at <|22-6|> with height 19 and open gripper\n\n</think>\n\nStep 1: [\"<|10-11|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|10-11|>\", 17, 0, 60, 90, 1]\nStep 3: [\"<|10-11|>\", 17, 0, 60, 90, 0]\nStep 4: [\"<|10-11|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|22-6|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|22-6|>\", 19, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 27, 34, 30, 0, 60, 90, 1 ], [ 27, 34, 17, 0, 60, 90, 1 ], [ 27, 34, 17, 0, 60, 90, 0 ], [ 27, 34, 30, 0, 60, 90, 0 ], [ 19, 32, 30, 0, 60, 90, 0 ], [ 19, 32, 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: {\"<|rose|><|triangular prism|>\": 17, \"<|violet|><|star|>\": 18, \"<|azure|><|container|>\": 18, \"<|maroon|><|star|>\": 17, \"<|white|><|triangular prism|>\": 18, \"<|violet|><|cylinder|>\": 18, \"<|yellow|><|star|>\": 18}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the rose triangular prism and place it into the azure container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|maroon|><|star|><|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|><|yellow|><|star|><|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|><|azure|><|container|><|8-5|><|empty|><|8-6|><|rose|><|triangular prism|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|white|><|triangular prism|><|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|><|violet|><|cylinder|><|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|><|violet|><|star|><|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|><|triangular prism|> found at <|8-6|> with height 17\nTarget Placement Location: <|azure|><|container|> at <|8-4|> with height 18\nPLAN ACTIONS:\nStep 1: Move above <|rose|><|triangular prism|> at <|8-6|> with height 30\nStep 2: Lower to <|rose|><|triangular prism|> at <|8-6|> with height 17\nStep 3: Close gripper on <|rose|><|triangular prism|> at <|8-6|> with height 17\nStep 4: Lift <|rose|><|triangular prism|> at <|8-6|> to height 30\nStep 5: Move to <|azure|><|container|> location at <|8-4|> with height 30\nStep 6: Place inside <|azure|><|container|> location at <|8-4|> with height 18 and open gripper\n\n</think>\n\nStep 1: [\"<|8-6|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|8-6|>\", 17, 0, 60, 90, 1]\nStep 3: [\"<|8-6|>\", 17, 0, 60, 90, 0]\nStep 4: [\"<|8-6|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|8-4|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|8-4|>\", 18, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 48, 26, 30, 0, 60, 90, 1 ], [ 48, 26, 17, 0, 60, 90, 1 ], [ 48, 26, 17, 0, 60, 90, 0 ], [ 48, 26, 30, 0, 60, 90, 0 ], [ 14, 42, 30, 0, 60, 90, 0 ], [ 14, 42, 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|><|cube|>\": 17, \"<|violet|><|star|>\": 17, \"<|blue|><|cylinder|>\": 17, \"<|white|><|moon|>\": 17, \"<|white|><|cube|>\": 18, \"<|green|><|container|>\": 18, \"<|black|><|cube|>\": 18}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the violet star and place it into the green container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|violet|><|star|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|cyan|><|cube|><|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|><|green|><|container|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|black|><|cube|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|white|><|cube|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|white|><|moon|><|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|><|blue|><|cylinder|><|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|><|star|> found at <|6-12|> with height 17\nTarget Placement Location: <|green|><|container|> at <|10-3|> with height 18\nPLAN ACTIONS:\nStep 1: Move above <|violet|><|star|> at <|6-12|> with height 30\nStep 2: Lower to <|violet|><|star|> at <|6-12|> with height 17\nStep 3: Close gripper on <|violet|><|star|> at <|6-12|> with height 17\nStep 4: Lift <|violet|><|star|> at <|6-12|> to height 30\nStep 5: Move to <|green|><|container|> location at <|10-3|> with height 30\nStep 6: Place inside <|green|><|container|> location at <|10-3|> with height 18 and open gripper\n\n</think>\n\nStep 1: [\"<|6-12|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|6-12|>\", 17, 0, 60, 90, 1]\nStep 3: [\"<|6-12|>\", 17, 0, 60, 90, 0]\nStep 4: [\"<|6-12|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|10-3|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|10-3|>\", 18, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 24, 34, 30, 0, 60, 90, 1 ], [ 24, 34, 18, 0, 60, 90, 1 ], [ 24, 34, 18, 0, 60, 90, 0 ], [ 24, 34, 30, 0, 60, 90, 0 ], [ 53, 89, 30, 0, 60, 90, 0 ], [ 53, 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: {\"<|white|><|triangular prism|>\": 18, \"<|yellow|><|cylinder|>\": 17, \"<|purple|><|triangular prism|>\": 18, \"<|magenta|><|cylinder|>\": 17, \"<|navy|><|star|>\": 18, \"<|maroon|><|star|>\": 17}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the purple triangular prism on top of the maroon star\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|purple|><|triangular prism|><|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|><|navy|><|star|><|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|><|yellow|><|cylinder|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|white|><|triangular prism|><|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|><|magenta|><|cylinder|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|maroon|><|star|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|purple|><|triangular prism|> found at <|8-6|> with height 18\nTarget Placement Location: <|maroon|><|star|> at <|22-13|> with height 17\nPLAN ACTIONS:\nStep 1: Move above <|purple|><|triangular prism|> at <|8-6|> with height 30\nStep 2: Lower to <|purple|><|triangular prism|> at <|8-6|> with height 18\nStep 3: Close gripper on <|purple|><|triangular prism|> at <|8-6|> with height 18\nStep 4: Lift <|purple|><|triangular prism|> at <|8-6|> to height 30\nStep 5: Move to <|maroon|><|star|> location at <|22-13|> with height 30\nStep 6: Stack on top of <|maroon|><|star|> location at <|22-13|> with height 17 + 4 and open gripper\n\n</think>\n\nStep 1: [\"<|8-6|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|8-6|>\", 18, 0, 60, 90, 1]\nStep 3: [\"<|8-6|>\", 18, 0, 60, 90, 0]\nStep 4: [\"<|8-6|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|22-13|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|22-13|>\", 21, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 70, 31, 30, 0, 60, 90, 1 ], [ 70, 31, 17, 0, 60, 90, 1 ], [ 70, 31, 17, 0, 60, 90, 0 ], [ 70, 31, 30, 0, 60, 90, 0 ], [ 61, 19, 30, 0, 60, 90, 0 ], [ 61, 19, 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: {\"<|red|><|container|>\": 17, \"<|cyan|><|star|>\": 17, \"<|yellow|><|cylinder|>\": 17, \"<|gray|><|cylinder|>\": 17, \"<|navy|><|star|>\": 17, \"<|olive|><|cube|>\": 18, \"<|olive|><|moon|>\": 18}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the navy star and place it into the red container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|red|><|container|><|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|><|navy|><|star|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|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|><|olive|><|moon|><|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|><|olive|><|cube|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|gray|><|cylinder|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|yellow|><|cylinder|><|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|><|cyan|><|star|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|navy|><|star|> found at <|7-17|> with height 17\nTarget Placement Location: <|red|><|container|> at <|4-15|> with height 17\nPLAN ACTIONS:\nStep 1: Move above <|navy|><|star|> at <|7-17|> with height 30\nStep 2: Lower to <|navy|><|star|> at <|7-17|> with height 17\nStep 3: Close gripper on <|navy|><|star|> at <|7-17|> with height 17\nStep 4: Lift <|navy|><|star|> at <|7-17|> to height 30\nStep 5: Move to <|red|><|container|> location at <|4-15|> with height 30\nStep 6: Place inside <|red|><|container|> location at <|4-15|> with height 17 and open gripper\n\n</think>\n\nStep 1: [\"<|7-17|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|7-17|>\", 17, 0, 60, 90, 1]\nStep 3: [\"<|7-17|>\", 17, 0, 60, 90, 0]\nStep 4: [\"<|7-17|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|4-15|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|4-15|>\", 17, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 24, 30, 30, 0, 60, 90, 1 ], [ 24, 30, 18, 0, 60, 90, 1 ], [ 24, 30, 18, 0, 60, 90, 0 ], [ 24, 30, 30, 0, 60, 90, 0 ], [ 52, 50, 30, 0, 60, 90, 0 ], [ 52, 50, 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: {\"<|violet|><|cube|>\": 17, \"<|white|><|cube|>\": 17, \"<|navy|><|triangular prism|>\": 17, \"<|green|><|star|>\": 18, \"<|red|><|moon|>\": 18, \"<|red|><|triangular prism|>\": 17, \"<|rose|><|cylinder|>\": 18}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the green star on top of the red triangular prism\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|white|><|cube|><|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|><|green|><|star|><|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|><|red|><|moon|><|11-18|><|empty|><|11-19|><|navy|><|triangular prism|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|red|><|triangular prism|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|violet|><|cube|><|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|><|rose|><|cylinder|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|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: <|green|><|star|> found at <|7-6|> with height 18\nTarget Placement Location: <|red|><|triangular prism|> at <|12-13|> with height 17\nPLAN ACTIONS:\nStep 1: Move above <|green|><|star|> at <|7-6|> with height 30\nStep 2: Lower to <|green|><|star|> at <|7-6|> with height 18\nStep 3: Close gripper on <|green|><|star|> at <|7-6|> with height 18\nStep 4: Lift <|green|><|star|> at <|7-6|> to height 30\nStep 5: Move to <|red|><|triangular prism|> location at <|12-13|> with height 30\nStep 6: Stack on top of <|red|><|triangular prism|> location at <|12-13|> with height 17 + 4 and open gripper\n\n</think>\n\nStep 1: [\"<|7-6|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|7-6|>\", 18, 0, 60, 90, 1]\nStep 3: [\"<|7-6|>\", 18, 0, 60, 90, 0]\nStep 4: [\"<|7-6|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|12-13|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|12-13|>\", 21, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 81, 47, 30, 0, 60, 90, 1 ], [ 81, 47, 18, 0, 60, 90, 1 ], [ 81, 47, 18, 0, 60, 90, 0 ], [ 81, 47, 30, 0, 60, 90, 0 ], [ 81, 11, 30, 0, 60, 90, 0 ], [ 81, 11, 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: {\"<|green|><|star|>\": 18, \"<|blue|><|moon|>\": 18, \"<|gray|><|container|>\": 17, \"<|white|><|moon|>\": 18, \"<|white|><|cylinder|>\": 18, \"<|azure|><|triangular prism|>\": 18, \"<|olive|><|triangular prism|>\": 18}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the olive triangular prism and place it into the gray container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|gray|><|container|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|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|><|white|><|cylinder|><|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|><|green|><|star|><|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|><|olive|><|triangular prism|><|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|><|white|><|moon|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|blue|><|moon|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|azure|><|triangular prism|><|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: <|olive|><|triangular prism|> found at <|11-20|> with height 18\nTarget Placement Location: <|gray|><|container|> at <|2-20|> with height 17\nPLAN ACTIONS:\nStep 1: Move above <|olive|><|triangular prism|> at <|11-20|> with height 30\nStep 2: Lower to <|olive|><|triangular prism|> at <|11-20|> with height 18\nStep 3: Close gripper on <|olive|><|triangular prism|> at <|11-20|> with height 18\nStep 4: Lift <|olive|><|triangular prism|> at <|11-20|> to height 30\nStep 5: Move to <|gray|><|container|> location at <|2-20|> with height 30\nStep 6: Place inside <|gray|><|container|> location at <|2-20|> with height 17 and open gripper\n\n</think>\n\nStep 1: [\"<|11-20|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|11-20|>\", 18, 0, 60, 90, 1]\nStep 3: [\"<|11-20|>\", 18, 0, 60, 90, 0]\nStep 4: [\"<|11-20|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|2-20|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|2-20|>\", 17, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 40, 45, 30, 0, 60, 90, 1 ], [ 40, 45, 18, 0, 60, 90, 1 ], [ 40, 45, 18, 0, 60, 90, 0 ], [ 40, 45, 30, 0, 60, 90, 0 ], [ 66, 69, 30, 0, 60, 90, 0 ], [ 66, 69, 17, 0, 60, 90, 1 ] ]

[ { "content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\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|>\": 17, \"<|azure|><|cube|>\": 18, \"<|red|><|container|>\": 17, \"<|lime|><|moon|>\": 18, \"<|azure|><|star|>\": 18, \"<|red|><|cylinder|>\": 18}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the lime moon and place it into the red container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|azure|><|star|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|lime|><|moon|><|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|><|red|><|cylinder|><|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|><|white|><|moon|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|red|><|container|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|azure|><|cube|><|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: <|lime|><|moon|> found at <|11-10|> with height 18\nTarget Placement Location: <|red|><|container|> at <|17-16|> with height 17\nPLAN ACTIONS:\nStep 1: Move above <|lime|><|moon|> at <|11-10|> with height 30\nStep 2: Lower to <|lime|><|moon|> at <|11-10|> with height 18\nStep 3: Close gripper on <|lime|><|moon|> at <|11-10|> with height 18\nStep 4: Lift <|lime|><|moon|> at <|11-10|> to height 30\nStep 5: Move to <|red|><|container|> location at <|17-16|> with height 30\nStep 6: Place inside <|red|><|container|> location at <|17-16|> with height 17 and open gripper\n\n</think>\n\nStep 1: [\"<|11-10|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|11-10|>\", 18, 0, 60, 90, 1]\nStep 3: [\"<|11-10|>\", 18, 0, 60, 90, 0]\nStep 4: [\"<|11-10|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|17-16|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|17-16|>\", 17, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 20, 43, 30, 0, 60, 90, 1 ], [ 20, 43, 18, 0, 60, 90, 1 ], [ 20, 43, 18, 0, 60, 90, 0 ], [ 20, 43, 30, 0, 60, 90, 0 ], [ 57, 81, 30, 0, 60, 90, 0 ], [ 57, 81, 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: {\"<|red|><|cylinder|>\": 18, \"<|lime|><|moon|>\": 18, \"<|black|><|cylinder|>\": 18, \"<|navy|><|container|>\": 19, \"<|navy|><|star|>\": 18, \"<|yellow|><|triangular prism|>\": 17}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the lime moon and place it into the navy container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|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|><|navy|><|star|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|lime|><|moon|><|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|><|yellow|><|triangular prism|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|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|><|red|><|cylinder|><|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|><|navy|><|container|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|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|><|black|><|cylinder|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|lime|><|moon|> found at <|10-5|> with height 18\nTarget Placement Location: <|navy|><|container|> at <|20-14|> with height 19\nPLAN ACTIONS:\nStep 1: Move above <|lime|><|moon|> at <|10-5|> with height 30\nStep 2: Lower to <|lime|><|moon|> at <|10-5|> with height 18\nStep 3: Close gripper on <|lime|><|moon|> at <|10-5|> with height 18\nStep 4: Lift <|lime|><|moon|> at <|10-5|> to height 30\nStep 5: Move to <|navy|><|container|> location at <|20-14|> with height 30\nStep 6: Place inside <|navy|><|container|> location at <|20-14|> with height 19 and open gripper\n\n</think>\n\nStep 1: [\"<|10-5|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|10-5|>\", 18, 0, 60, 90, 1]\nStep 3: [\"<|10-5|>\", 18, 0, 60, 90, 0]\nStep 4: [\"<|10-5|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|20-14|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|20-14|>\", 19, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 59, 50, 30, 0, 60, 90, 1 ], [ 59, 50, 18, 0, 60, 90, 1 ], [ 59, 50, 18, 0, 60, 90, 0 ], [ 59, 50, 30, 0, 60, 90, 0 ], [ 80, 29, 30, 0, 60, 90, 0 ], [ 80, 29, 17, 0, 60, 90, 1 ] ]

[ { "content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\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|><|triangular prism|>\": 18, \"<|cyan|><|moon|>\": 17, \"<|lime|><|triangular prism|>\": 18, \"<|teal|><|moon|>\": 18, \"<|violet|><|moon|>\": 18, \"<|magenta|><|container|>\": 17}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the lime triangular prism and place it into the magenta container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|cyan|><|moon|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|magenta|><|container|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|white|><|triangular prism|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|lime|><|triangular prism|><|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|><|violet|><|moon|><|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|><|teal|><|moon|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|lime|><|triangular prism|> found at <|12-14|> with height 18\nTarget Placement Location: <|magenta|><|container|> at <|7-20|> with height 17\nPLAN ACTIONS:\nStep 1: Move above <|lime|><|triangular prism|> at <|12-14|> with height 30\nStep 2: Lower to <|lime|><|triangular prism|> at <|12-14|> with height 18\nStep 3: Close gripper on <|lime|><|triangular prism|> at <|12-14|> with height 18\nStep 4: Lift <|lime|><|triangular prism|> at <|12-14|> to height 30\nStep 5: Move to <|magenta|><|container|> location at <|7-20|> with height 30\nStep 6: Place inside <|magenta|><|container|> location at <|7-20|> with height 17 and open gripper\n\n</think>\n\nStep 1: [\"<|12-14|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|12-14|>\", 18, 0, 60, 90, 1]\nStep 3: [\"<|12-14|>\", 18, 0, 60, 90, 0]\nStep 4: [\"<|12-14|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|7-20|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|7-20|>\", 17, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 29, 54, 30, 0, 60, 90, 1 ], [ 29, 54, 17, 0, 60, 90, 1 ], [ 29, 54, 17, 0, 60, 90, 0 ], [ 29, 54, 30, 0, 60, 90, 0 ], [ 76, 17, 30, 0, 60, 90, 0 ], [ 76, 17, 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|><|moon|>\": 17, \"<|blue|><|cube|>\": 18, \"<|red|><|moon|>\": 17, \"<|white|><|cylinder|>\": 19, \"<|cyan|><|cube|>\": 18, \"<|white|><|moon|>\": 17, \"<|maroon|><|moon|>\": 17}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the maroon moon on top of the white 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|><|white|><|cylinder|><|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|><|blue|><|cube|><|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|><|red|><|moon|><|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|><|white|><|moon|><|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|><|teal|><|moon|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|maroon|><|moon|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|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|><|cyan|><|cube|><|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: <|maroon|><|moon|> found at <|13-7|> with height 17\nTarget Placement Location: <|white|><|cylinder|> at <|4-19|> with height 19\nPLAN ACTIONS:\nStep 1: Move above <|maroon|><|moon|> at <|13-7|> with height 30\nStep 2: Lower to <|maroon|><|moon|> at <|13-7|> with height 17\nStep 3: Close gripper on <|maroon|><|moon|> at <|13-7|> with height 17\nStep 4: Lift <|maroon|><|moon|> at <|13-7|> to height 30\nStep 5: Move to <|white|><|cylinder|> location at <|4-19|> with height 30\nStep 6: Stack on top of <|white|><|cylinder|> location at <|4-19|> with height 19 + 4 and open gripper\n\n</think>\n\nStep 1: [\"<|13-7|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|13-7|>\", 17, 0, 60, 90, 1]\nStep 3: [\"<|13-7|>\", 17, 0, 60, 90, 0]\nStep 4: [\"<|13-7|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|4-19|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|4-19|>\", 23, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 77, 64, 30, 0, 60, 90, 1 ], [ 77, 64, 18, 0, 60, 90, 1 ], [ 77, 64, 18, 0, 60, 90, 0 ], [ 77, 64, 30, 0, 60, 90, 0 ], [ 22, 42, 30, 0, 60, 90, 0 ], [ 22, 42, 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: {\"<|yellow|><|cube|>\": 18, \"<|black|><|cube|>\": 17, \"<|white|><|star|>\": 18, \"<|gray|><|container|>\": 17, \"<|maroon|><|triangular prism|>\": 18}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the yellow cube and place it into the gray container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|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|><|gray|><|container|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|black|><|cube|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|yellow|><|cube|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|white|><|star|><|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|><|maroon|><|triangular prism|><|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: <|yellow|><|cube|> found at <|16-19|> with height 18\nTarget Placement Location: <|gray|><|container|> at <|10-5|> with height 17\nPLAN ACTIONS:\nStep 1: Move above <|yellow|><|cube|> at <|16-19|> with height 30\nStep 2: Lower to <|yellow|><|cube|> at <|16-19|> with height 18\nStep 3: Close gripper on <|yellow|><|cube|> at <|16-19|> with height 18\nStep 4: Lift <|yellow|><|cube|> at <|16-19|> to height 30\nStep 5: Move to <|gray|><|container|> location at <|10-5|> with height 30\nStep 6: Place inside <|gray|><|container|> location at <|10-5|> with height 17 and open gripper\n\n</think>\n\nStep 1: [\"<|16-19|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|16-19|>\", 18, 0, 60, 90, 1]\nStep 3: [\"<|16-19|>\", 18, 0, 60, 90, 0]\nStep 4: [\"<|16-19|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|10-5|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|10-5|>\", 17, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 87, 85, 30, 0, 60, 90, 1 ], [ 87, 85, 18, 0, 60, 90, 1 ], [ 87, 85, 18, 0, 60, 90, 0 ], [ 87, 85, 30, 0, 60, 90, 0 ], [ 60, 44, 30, 0, 60, 90, 0 ], [ 60, 44, 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: {\"<|cyan|><|star|>\": 17, \"<|navy|><|moon|>\": 17, \"<|maroon|><|cylinder|>\": 17, \"<|blue|><|container|>\": 19, \"<|rose|><|moon|>\": 18, \"<|navy|><|cylinder|>\": 18, \"<|gray|><|cube|>\": 18}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the navy cylinder and place it into the blue container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|blue|><|container|><|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|><|gray|><|cube|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|rose|><|moon|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|cyan|><|star|><|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|><|maroon|><|cylinder|><|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|><|navy|><|moon|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|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|><|navy|><|cylinder|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|navy|><|cylinder|> found at <|21-21|> with height 18\nTarget Placement Location: <|blue|><|container|> at <|11-15|> with height 19\nPLAN ACTIONS:\nStep 1: Move above <|navy|><|cylinder|> at <|21-21|> with height 30\nStep 2: Lower to <|navy|><|cylinder|> at <|21-21|> with height 18\nStep 3: Close gripper on <|navy|><|cylinder|> at <|21-21|> with height 18\nStep 4: Lift <|navy|><|cylinder|> at <|21-21|> to height 30\nStep 5: Move to <|blue|><|container|> location at <|11-15|> with height 30\nStep 6: Place inside <|blue|><|container|> location at <|11-15|> with height 19 and open gripper\n\n</think>\n\nStep 1: [\"<|21-21|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|21-21|>\", 18, 0, 60, 90, 1]\nStep 3: [\"<|21-21|>\", 18, 0, 60, 90, 0]\nStep 4: [\"<|21-21|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|11-15|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|11-15|>\", 19, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 62, 80, 30, 0, 60, 90, 1 ], [ 62, 80, 18, 0, 60, 90, 1 ], [ 62, 80, 18, 0, 60, 90, 0 ], [ 62, 80, 30, 0, 60, 90, 0 ], [ 86, 58, 30, 0, 60, 90, 0 ], [ 86, 58, 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: {\"<|purple|><|moon|>\": 18, \"<|white|><|moon|>\": 18, \"<|gray|><|container|>\": 17, \"<|gray|><|cube|>\": 17, \"<|red|><|cube|>\": 18, \"<|purple|><|triangular prism|>\": 17, \"<|violet|><|star|>\": 17}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the purple moon and place it into the gray container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|gray|><|cube|><|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|><|purple|><|triangular prism|><|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|><|violet|><|star|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|red|><|cube|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|gray|><|container|><|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|><|white|><|moon|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|purple|><|moon|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|purple|><|moon|> found at <|20-15|> with height 18\nTarget Placement Location: <|gray|><|container|> at <|14-21|> with height 17\nPLAN ACTIONS:\nStep 1: Move above <|purple|><|moon|> at <|20-15|> with height 30\nStep 2: Lower to <|purple|><|moon|> at <|20-15|> with height 18\nStep 3: Close gripper on <|purple|><|moon|> at <|20-15|> with height 18\nStep 4: Lift <|purple|><|moon|> at <|20-15|> to height 30\nStep 5: Move to <|gray|><|container|> location at <|14-21|> with height 30\nStep 6: Place inside <|gray|><|container|> location at <|14-21|> with height 17 and open gripper\n\n</think>\n\nStep 1: [\"<|20-15|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|20-15|>\", 18, 0, 60, 90, 1]\nStep 3: [\"<|20-15|>\", 18, 0, 60, 90, 0]\nStep 4: [\"<|20-15|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|14-21|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|14-21|>\", 17, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 47, 62, 30, 0, 60, 90, 1 ], [ 47, 62, 18, 0, 60, 90, 1 ], [ 47, 62, 18, 0, 60, 90, 0 ], [ 47, 62, 30, 0, 60, 90, 0 ], [ 74, 16, 30, 0, 60, 90, 0 ], [ 74, 16, 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: {\"<|red|><|triangular prism|>\": 18, \"<|azure|><|container|>\": 18, \"<|white|><|triangular prism|>\": 17, \"<|navy|><|triangular prism|>\": 18, \"<|silver|><|star|>\": 17, \"<|magenta|><|cylinder|>\": 17, \"<|maroon|><|moon|>\": 18}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the red triangular prism and place it into the azure container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|azure|><|container|><|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|><|silver|><|star|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|white|><|triangular prism|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|navy|><|triangular prism|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|maroon|><|moon|><|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|><|red|><|triangular prism|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|magenta|><|cylinder|><|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: <|red|><|triangular prism|> found at <|15-11|> with height 18\nTarget Placement Location: <|azure|><|container|> at <|4-18|> with height 18\nPLAN ACTIONS:\nStep 1: Move above <|red|><|triangular prism|> at <|15-11|> with height 30\nStep 2: Lower to <|red|><|triangular prism|> at <|15-11|> with height 18\nStep 3: Close gripper on <|red|><|triangular prism|> at <|15-11|> with height 18\nStep 4: Lift <|red|><|triangular prism|> at <|15-11|> to height 30\nStep 5: Move to <|azure|><|container|> location at <|4-18|> with height 30\nStep 6: Place inside <|azure|><|container|> location at <|4-18|> with height 18 and open gripper\n\n</think>\n\nStep 1: [\"<|15-11|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|15-11|>\", 18, 0, 60, 90, 1]\nStep 3: [\"<|15-11|>\", 18, 0, 60, 90, 0]\nStep 4: [\"<|15-11|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|4-18|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|4-18|>\", 18, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 48, 36, 30, 0, 60, 90, 1 ], [ 48, 36, 17, 0, 60, 90, 1 ], [ 48, 36, 17, 0, 60, 90, 0 ], [ 48, 36, 30, 0, 60, 90, 0 ], [ 89, 23, 30, 0, 60, 90, 0 ], [ 89, 23, 22, 0, 60, 90, 1 ] ]

[ { "content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\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|><|cube|>\": 17, \"<|olive|><|cylinder|>\": 17, \"<|maroon|><|cylinder|>\": 17, \"<|red|><|cylinder|>\": 17, \"<|green|><|moon|>\": 17, \"<|violet|><|cylinder|>\": 17, \"<|rose|><|cylinder|>\": 18}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the olive cylinder on top of the rose 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|><|rose|><|cylinder|><|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|><|green|><|moon|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|olive|><|cylinder|><|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|><|red|><|cylinder|><|12-20|><|empty|><|12-21|><|cyan|><|cube|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|maroon|><|cylinder|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|violet|><|cylinder|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|olive|><|cylinder|> found at <|9-12|> with height 17\nTarget Placement Location: <|rose|><|cylinder|> at <|5-22|> with height 18\nPLAN ACTIONS:\nStep 1: Move above <|olive|><|cylinder|> at <|9-12|> with height 30\nStep 2: Lower to <|olive|><|cylinder|> at <|9-12|> with height 17\nStep 3: Close gripper on <|olive|><|cylinder|> at <|9-12|> with height 17\nStep 4: Lift <|olive|><|cylinder|> at <|9-12|> to height 30\nStep 5: Move to <|rose|><|cylinder|> location at <|5-22|> with height 30\nStep 6: Stack on top of <|rose|><|cylinder|> location at <|5-22|> with height 18 + 4 and open gripper\n\n</think>\n\nStep 1: [\"<|9-12|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|9-12|>\", 17, 0, 60, 90, 1]\nStep 3: [\"<|9-12|>\", 17, 0, 60, 90, 0]\nStep 4: [\"<|9-12|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|5-22|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|5-22|>\", 22, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 25, 79, 30, 0, 60, 90, 1 ], [ 25, 79, 18, 0, 60, 90, 1 ], [ 25, 79, 18, 0, 60, 90, 0 ], [ 25, 79, 30, 0, 60, 90, 0 ], [ 80, 90, 30, 0, 60, 90, 0 ], [ 80, 90, 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: {\"<|teal|><|cube|>\": 18, \"<|lime|><|cylinder|>\": 17, \"<|red|><|cube|>\": 17, \"<|violet|><|star|>\": 17, \"<|white|><|triangular prism|>\": 17, \"<|gray|><|moon|>\": 18}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the teal cube on top of the white triangular prism\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|lime|><|cylinder|><|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|><|violet|><|star|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|red|><|cube|><|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|><|teal|><|cube|><|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|><|gray|><|moon|><|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|><|white|><|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: <|teal|><|cube|> found at <|19-6|> with height 18\nTarget Placement Location: <|white|><|triangular prism|> at <|22-20|> with height 17\nPLAN ACTIONS:\nStep 1: Move above <|teal|><|cube|> at <|19-6|> with height 30\nStep 2: Lower to <|teal|><|cube|> at <|19-6|> with height 18\nStep 3: Close gripper on <|teal|><|cube|> at <|19-6|> with height 18\nStep 4: Lift <|teal|><|cube|> at <|19-6|> to height 30\nStep 5: Move to <|white|><|triangular prism|> location at <|22-20|> with height 30\nStep 6: Stack on top of <|white|><|triangular prism|> location at <|22-20|> with height 17 + 4 and open gripper\n\n</think>\n\nStep 1: [\"<|19-6|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|19-6|>\", 18, 0, 60, 90, 1]\nStep 3: [\"<|19-6|>\", 18, 0, 60, 90, 0]\nStep 4: [\"<|19-6|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|22-20|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|22-20|>\", 21, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 28, 20, 30, 0, 60, 90, 1 ], [ 28, 20, 18, 0, 60, 90, 1 ], [ 28, 20, 18, 0, 60, 90, 0 ], [ 28, 20, 30, 0, 60, 90, 0 ], [ 28, 59, 30, 0, 60, 90, 0 ], [ 28, 59, 17, 0, 60, 90, 1 ] ]

[ { "content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\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|><|star|>\": 18, \"<|azure|><|cylinder|>\": 18, \"<|lime|><|triangular prism|>\": 17, \"<|green|><|container|>\": 17, \"<|yellow|><|star|>\": 18}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the magenta star and place it into the green container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|magenta|><|star|><|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|><|lime|><|triangular prism|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|yellow|><|star|><|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|><|green|><|container|><|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|><|azure|><|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: <|magenta|><|star|> found at <|5-7|> with height 18\nTarget Placement Location: <|green|><|container|> at <|14-7|> with height 17\nPLAN ACTIONS:\nStep 1: Move above <|magenta|><|star|> at <|5-7|> with height 30\nStep 2: Lower to <|magenta|><|star|> at <|5-7|> with height 18\nStep 3: Close gripper on <|magenta|><|star|> at <|5-7|> with height 18\nStep 4: Lift <|magenta|><|star|> at <|5-7|> to height 30\nStep 5: Move to <|green|><|container|> location at <|14-7|> with height 30\nStep 6: Place inside <|green|><|container|> location at <|14-7|> with height 17 and open gripper\n\n</think>\n\nStep 1: [\"<|5-7|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|5-7|>\", 18, 0, 60, 90, 1]\nStep 3: [\"<|5-7|>\", 18, 0, 60, 90, 0]\nStep 4: [\"<|5-7|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|14-7|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|14-7|>\", 17, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 48, 25, 30, 0, 60, 90, 1 ], [ 48, 25, 17, 0, 60, 90, 1 ], [ 48, 25, 17, 0, 60, 90, 0 ], [ 48, 25, 30, 0, 60, 90, 0 ], [ 65, 65, 30, 0, 60, 90, 0 ], [ 65, 65, 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: {\"<|gray|><|moon|>\": 17, \"<|yellow|><|moon|>\": 17, \"<|olive|><|triangular prism|>\": 17, \"<|violet|><|moon|>\": 17, \"<|maroon|><|cube|>\": 17}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the gray moon on top of the maroon cube\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|gray|><|moon|><|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|><|violet|><|moon|><|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|><|yellow|><|moon|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|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|><|maroon|><|cube|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|olive|><|triangular prism|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|gray|><|moon|> found at <|6-12|> with height 17\nTarget Placement Location: <|maroon|><|cube|> at <|16-16|> with height 17\nPLAN ACTIONS:\nStep 1: Move above <|gray|><|moon|> at <|6-12|> with height 30\nStep 2: Lower to <|gray|><|moon|> at <|6-12|> with height 17\nStep 3: Close gripper on <|gray|><|moon|> at <|6-12|> with height 17\nStep 4: Lift <|gray|><|moon|> at <|6-12|> to height 30\nStep 5: Move to <|maroon|><|cube|> location at <|16-16|> with height 30\nStep 6: Stack on top of <|maroon|><|cube|> location at <|16-16|> with height 17 + 4 and open gripper\n\n</think>\n\nStep 1: [\"<|6-12|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|6-12|>\", 17, 0, 60, 90, 1]\nStep 3: [\"<|6-12|>\", 17, 0, 60, 90, 0]\nStep 4: [\"<|6-12|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|16-16|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|16-16|>\", 21, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 57, 80, 30, 0, 60, 90, 1 ], [ 57, 80, 17, 0, 60, 90, 1 ], [ 57, 80, 17, 0, 60, 90, 0 ], [ 57, 80, 30, 0, 60, 90, 0 ], [ 45, 13, 30, 0, 60, 90, 0 ], [ 45, 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: {\"<|green|><|moon|>\": 18, \"<|red|><|star|>\": 17, \"<|black|><|container|>\": 17, \"<|navy|><|cube|>\": 18, \"<|violet|><|cube|>\": 17}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the red star and place it into the 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|><|black|><|container|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|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|><|navy|><|cube|><|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|><|violet|><|cube|><|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|><|red|><|star|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|green|><|moon|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|red|><|star|> found at <|20-14|> with height 17\nTarget Placement Location: <|black|><|container|> at <|3-11|> with height 17\nPLAN ACTIONS:\nStep 1: Move above <|red|><|star|> at <|20-14|> with height 30\nStep 2: Lower to <|red|><|star|> at <|20-14|> with height 17\nStep 3: Close gripper on <|red|><|star|> at <|20-14|> with height 17\nStep 4: Lift <|red|><|star|> at <|20-14|> to height 30\nStep 5: Move to <|black|><|container|> location at <|3-11|> with height 30\nStep 6: Place inside <|black|><|container|> location at <|3-11|> with height 17 and open gripper\n\n</think>\n\nStep 1: [\"<|20-14|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|20-14|>\", 17, 0, 60, 90, 1]\nStep 3: [\"<|20-14|>\", 17, 0, 60, 90, 0]\nStep 4: [\"<|20-14|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|3-11|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|3-11|>\", 17, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 46, 21, 30, 0, 60, 90, 1 ], [ 46, 21, 17, 0, 60, 90, 1 ], [ 46, 21, 17, 0, 60, 90, 0 ], [ 46, 21, 30, 0, 60, 90, 0 ], [ 10, 69, 30, 0, 60, 90, 0 ], [ 10, 69, 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: {\"<|white|><|cylinder|>\": 17, \"<|lime|><|cube|>\": 17, \"<|maroon|><|cylinder|>\": 18, \"<|navy|><|cube|>\": 18, \"<|rose|><|star|>\": 17, \"<|red|><|container|>\": 19}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the rose star and place it into the red container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|rose|><|star|><|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|><|white|><|cylinder|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|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|><|lime|><|cube|><|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|><|maroon|><|cylinder|><|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|><|red|><|container|><|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|><|navy|><|cube|><|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|><|star|> found at <|5-11|> with height 17\nTarget Placement Location: <|red|><|container|> at <|17-2|> with height 19\nPLAN ACTIONS:\nStep 1: Move above <|rose|><|star|> at <|5-11|> with height 30\nStep 2: Lower to <|rose|><|star|> at <|5-11|> with height 17\nStep 3: Close gripper on <|rose|><|star|> at <|5-11|> with height 17\nStep 4: Lift <|rose|><|star|> at <|5-11|> to height 30\nStep 5: Move to <|red|><|container|> location at <|17-2|> with height 30\nStep 6: Place inside <|red|><|container|> location at <|17-2|> with height 19 and open gripper\n\n</think>\n\nStep 1: [\"<|5-11|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|5-11|>\", 17, 0, 60, 90, 1]\nStep 3: [\"<|5-11|>\", 17, 0, 60, 90, 0]\nStep 4: [\"<|5-11|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|17-2|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|17-2|>\", 19, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 71, 68, 30, 0, 60, 90, 1 ], [ 71, 68, 18, 0, 60, 90, 1 ], [ 71, 68, 18, 0, 60, 90, 0 ], [ 71, 68, 30, 0, 60, 90, 0 ], [ 20, 60, 30, 0, 60, 90, 0 ], [ 20, 60, 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: {\"<|lime|><|cylinder|>\": 18, \"<|cyan|><|star|>\": 18, \"<|blue|><|moon|>\": 17, \"<|lime|><|triangular prism|>\": 18, \"<|white|><|cube|>\": 18, \"<|cyan|><|cylinder|>\": 17}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the lime triangular prism on top of the cyan cylinder\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|white|><|cube|><|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|><|cyan|><|star|><|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|><|cyan|><|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|><|lime|><|cylinder|><|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|><|blue|><|moon|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|lime|><|triangular prism|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\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|><|triangular prism|> found at <|17-17|> with height 18\nTarget Placement Location: <|cyan|><|cylinder|> at <|15-5|> with height 17\nPLAN ACTIONS:\nStep 1: Move above <|lime|><|triangular prism|> at <|17-17|> with height 30\nStep 2: Lower to <|lime|><|triangular prism|> at <|17-17|> with height 18\nStep 3: Close gripper on <|lime|><|triangular prism|> at <|17-17|> with height 18\nStep 4: Lift <|lime|><|triangular prism|> at <|17-17|> to height 30\nStep 5: Move to <|cyan|><|cylinder|> location at <|15-5|> with height 30\nStep 6: Stack on top of <|cyan|><|cylinder|> location at <|15-5|> with height 17 + 4 and open gripper\n\n</think>\n\nStep 1: [\"<|17-17|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|17-17|>\", 18, 0, 60, 90, 1]\nStep 3: [\"<|17-17|>\", 18, 0, 60, 90, 0]\nStep 4: [\"<|17-17|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|15-5|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|15-5|>\", 21, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 28, 72, 30, 0, 60, 90, 1 ], [ 28, 72, 17, 0, 60, 90, 1 ], [ 28, 72, 17, 0, 60, 90, 0 ], [ 28, 72, 30, 0, 60, 90, 0 ], [ 90, 23, 30, 0, 60, 90, 0 ], [ 90, 23, 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: {\"<|rose|><|triangular prism|>\": 17, \"<|azure|><|triangular prism|>\": 17, \"<|blue|><|cylinder|>\": 18, \"<|olive|><|star|>\": 17, \"<|white|><|star|>\": 19}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the olive star on top of the white star\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|white|><|star|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|blue|><|cylinder|><|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|><|rose|><|triangular prism|><|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|><|olive|><|star|><|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|><|azure|><|triangular prism|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|olive|><|star|> found at <|18-7|> with height 17\nTarget Placement Location: <|white|><|star|> at <|5-22|> with height 19\nPLAN ACTIONS:\nStep 1: Move above <|olive|><|star|> at <|18-7|> with height 30\nStep 2: Lower to <|olive|><|star|> at <|18-7|> with height 17\nStep 3: Close gripper on <|olive|><|star|> at <|18-7|> with height 17\nStep 4: Lift <|olive|><|star|> at <|18-7|> to height 30\nStep 5: Move to <|white|><|star|> location at <|5-22|> with height 30\nStep 6: Stack on top of <|white|><|star|> location at <|5-22|> with height 19 + 4 and open gripper\n\n</think>\n\nStep 1: [\"<|18-7|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|18-7|>\", 17, 0, 60, 90, 1]\nStep 3: [\"<|18-7|>\", 17, 0, 60, 90, 0]\nStep 4: [\"<|18-7|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|5-22|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|5-22|>\", 23, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 27, 89, 30, 0, 60, 90, 1 ], [ 27, 89, 18, 0, 60, 90, 1 ], [ 27, 89, 18, 0, 60, 90, 0 ], [ 27, 89, 30, 0, 60, 90, 0 ], [ 90, 43, 30, 0, 60, 90, 0 ], [ 90, 43, 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: {\"<|yellow|><|container|>\": 17, \"<|azure|><|star|>\": 18, \"<|silver|><|cylinder|>\": 18, \"<|maroon|><|cube|>\": 18, \"<|green|><|star|>\": 17, \"<|teal|><|cube|>\": 18, \"<|cyan|><|cube|>\": 17}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the azure star and place it into the yellow container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|maroon|><|cube|><|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|><|cyan|><|cube|><|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|><|yellow|><|container|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|green|><|star|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|teal|><|cube|><|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|><|silver|><|cylinder|><|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|><|azure|><|star|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|azure|><|star|> found at <|22-6|> with height 18\nTarget Placement Location: <|yellow|><|container|> at <|10-22|> with height 17\nPLAN ACTIONS:\nStep 1: Move above <|azure|><|star|> at <|22-6|> with height 30\nStep 2: Lower to <|azure|><|star|> at <|22-6|> with height 18\nStep 3: Close gripper on <|azure|><|star|> at <|22-6|> with height 18\nStep 4: Lift <|azure|><|star|> at <|22-6|> to height 30\nStep 5: Move to <|yellow|><|container|> location at <|10-22|> with height 30\nStep 6: Place inside <|yellow|><|container|> location at <|10-22|> with height 17 and open gripper\n\n</think>\n\nStep 1: [\"<|22-6|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|22-6|>\", 18, 0, 60, 90, 1]\nStep 3: [\"<|22-6|>\", 18, 0, 60, 90, 0]\nStep 4: [\"<|22-6|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|10-22|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|10-22|>\", 17, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 68, 71, 30, 0, 60, 90, 1 ], [ 68, 71, 18, 0, 60, 90, 1 ], [ 68, 71, 18, 0, 60, 90, 0 ], [ 68, 71, 30, 0, 60, 90, 0 ], [ 65, 82, 30, 0, 60, 90, 0 ], [ 65, 82, 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: {\"<|gray|><|cube|>\": 18, \"<|magenta|><|moon|>\": 17, \"<|maroon|><|moon|>\": 17, \"<|purple|><|triangular prism|>\": 18, \"<|white|><|triangular prism|>\": 18, \"<|teal|><|container|>\": 19, \"<|maroon|><|cube|>\": 18}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the white triangular prism and place it into the teal container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|gray|><|cube|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|purple|><|triangular prism|><|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|><|magenta|><|moon|><|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|><|maroon|><|cube|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|white|><|triangular prism|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|teal|><|container|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|maroon|><|moon|><|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|><|triangular prism|> found at <|17-17|> with height 18\nTarget Placement Location: <|teal|><|container|> at <|20-16|> with height 19\nPLAN ACTIONS:\nStep 1: Move above <|white|><|triangular prism|> at <|17-17|> with height 30\nStep 2: Lower to <|white|><|triangular prism|> at <|17-17|> with height 18\nStep 3: Close gripper on <|white|><|triangular prism|> at <|17-17|> with height 18\nStep 4: Lift <|white|><|triangular prism|> at <|17-17|> to height 30\nStep 5: Move to <|teal|><|container|> location at <|20-16|> with height 30\nStep 6: Place inside <|teal|><|container|> location at <|20-16|> with height 19 and open gripper\n\n</think>\n\nStep 1: [\"<|17-17|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|17-17|>\", 18, 0, 60, 90, 1]\nStep 3: [\"<|17-17|>\", 18, 0, 60, 90, 0]\nStep 4: [\"<|17-17|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|20-16|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|20-16|>\", 19, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 35, 44, 30, 0, 60, 90, 1 ], [ 35, 44, 18, 0, 60, 90, 1 ], [ 35, 44, 18, 0, 60, 90, 0 ], [ 35, 44, 30, 0, 60, 90, 0 ], [ 51, 40, 30, 0, 60, 90, 0 ], [ 51, 40, 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: {\"<|teal|><|star|>\": 17, \"<|azure|><|triangular prism|>\": 17, \"<|maroon|><|star|>\": 18, \"<|black|><|star|>\": 18, \"<|gray|><|moon|>\": 18, \"<|maroon|><|cylinder|>\": 17}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the gray moon on top of the teal star\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|teal|><|star|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|black|><|star|><|11-8|><|gray|><|moon|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|azure|><|triangular prism|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|maroon|><|cylinder|><|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|><|maroon|><|star|><|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|><|moon|> found at <|11-8|> with height 18\nTarget Placement Location: <|teal|><|star|> at <|10-12|> with height 17\nPLAN ACTIONS:\nStep 1: Move above <|gray|><|moon|> at <|11-8|> with height 30\nStep 2: Lower to <|gray|><|moon|> at <|11-8|> with height 18\nStep 3: Close gripper on <|gray|><|moon|> at <|11-8|> with height 18\nStep 4: Lift <|gray|><|moon|> at <|11-8|> to height 30\nStep 5: Move to <|teal|><|star|> location at <|10-12|> with height 30\nStep 6: Stack on top of <|teal|><|star|> location at <|10-12|> with height 17 + 4 and open gripper\n\n</think>\n\nStep 1: [\"<|11-8|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|11-8|>\", 18, 0, 60, 90, 1]\nStep 3: [\"<|11-8|>\", 18, 0, 60, 90, 0]\nStep 4: [\"<|11-8|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|10-12|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|10-12|>\", 21, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 24, 38, 30, 0, 60, 90, 1 ], [ 24, 38, 18, 0, 60, 90, 1 ], [ 24, 38, 18, 0, 60, 90, 0 ], [ 24, 38, 30, 0, 60, 90, 0 ], [ 85, 65, 30, 0, 60, 90, 0 ], [ 85, 65, 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: {\"<|magenta|><|cube|>\": 17, \"<|purple|><|cylinder|>\": 18, \"<|violet|><|moon|>\": 19, \"<|violet|><|triangular prism|>\": 18, \"<|navy|><|cube|>\": 17, \"<|blue|><|cylinder|>\": 17}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the violet triangular prism on top of the violet 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|><|magenta|><|cube|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|violet|><|triangular prism|><|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|><|violet|><|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|><|blue|><|cylinder|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|purple|><|cylinder|><|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|><|navy|><|cube|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|violet|><|triangular prism|> found at <|9-6|> with height 18\nTarget Placement Location: <|violet|><|moon|> at <|16-21|> with height 19\nPLAN ACTIONS:\nStep 1: Move above <|violet|><|triangular prism|> at <|9-6|> with height 30\nStep 2: Lower to <|violet|><|triangular prism|> at <|9-6|> with height 18\nStep 3: Close gripper on <|violet|><|triangular prism|> at <|9-6|> with height 18\nStep 4: Lift <|violet|><|triangular prism|> at <|9-6|> to height 30\nStep 5: Move to <|violet|><|moon|> location at <|16-21|> with height 30\nStep 6: Stack on top of <|violet|><|moon|> location at <|16-21|> with height 19 + 4 and open gripper\n\n</think>\n\nStep 1: [\"<|9-6|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|9-6|>\", 18, 0, 60, 90, 1]\nStep 3: [\"<|9-6|>\", 18, 0, 60, 90, 0]\nStep 4: [\"<|9-6|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|16-21|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|16-21|>\", 23, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 48, 75, 30, 0, 60, 90, 1 ], [ 48, 75, 17, 0, 60, 90, 1 ], [ 48, 75, 17, 0, 60, 90, 0 ], [ 48, 75, 30, 0, 60, 90, 0 ], [ 41, 53, 30, 0, 60, 90, 0 ], [ 41, 53, 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: {\"<|maroon|><|star|>\": 17, \"<|green|><|star|>\": 17, \"<|red|><|star|>\": 18, \"<|cyan|><|cube|>\": 17, \"<|black|><|cylinder|>\": 17, \"<|magenta|><|star|>\": 17, \"<|yellow|><|moon|>\": 17}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the green star 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|><|cyan|><|cube|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|maroon|><|star|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|red|><|star|><|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|><|yellow|><|moon|><|13-11|><|empty|><|13-12|><|magenta|><|star|><|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|><|black|><|cylinder|><|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|><|green|><|star|><|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: <|green|><|star|> found at <|18-12|> with height 17\nTarget Placement Location: <|yellow|><|moon|> at <|13-10|> with height 17\nPLAN ACTIONS:\nStep 1: Move above <|green|><|star|> at <|18-12|> with height 30\nStep 2: Lower to <|green|><|star|> at <|18-12|> with height 17\nStep 3: Close gripper on <|green|><|star|> at <|18-12|> with height 17\nStep 4: Lift <|green|><|star|> at <|18-12|> to height 30\nStep 5: Move to <|yellow|><|moon|> location at <|13-10|> with height 30\nStep 6: Stack on top of <|yellow|><|moon|> location at <|13-10|> with height 17 + 4 and open gripper\n\n</think>\n\nStep 1: [\"<|18-12|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|18-12|>\", 17, 0, 60, 90, 1]\nStep 3: [\"<|18-12|>\", 17, 0, 60, 90, 0]\nStep 4: [\"<|18-12|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|13-10|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|13-10|>\", 21, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 72, 54, 30, 0, 60, 90, 1 ], [ 72, 54, 18, 0, 60, 90, 1 ], [ 72, 54, 18, 0, 60, 90, 0 ], [ 72, 54, 30, 0, 60, 90, 0 ], [ 50, 72, 30, 0, 60, 90, 0 ], [ 50, 72, 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: {\"<|lime|><|cube|>\": 18, \"<|yellow|><|triangular prism|>\": 17, \"<|violet|><|triangular prism|>\": 17, \"<|red|><|cylinder|>\": 18, \"<|cyan|><|cylinder|>\": 17, \"<|lime|><|moon|>\": 17, \"<|yellow|><|star|>\": 18}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the lime cube on top of the yellow 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|><|violet|><|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|><|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|><|lime|><|cube|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|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|><|red|><|cylinder|><|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|><|yellow|><|triangular prism|><|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|><|cyan|><|cylinder|><|19-10|><|yellow|><|star|><|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|><|lime|><|moon|><|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|><|cube|> found at <|13-18|> with height 18\nTarget Placement Location: <|yellow|><|triangular prism|> at <|18-12|> with height 17\nPLAN ACTIONS:\nStep 1: Move above <|lime|><|cube|> at <|13-18|> with height 30\nStep 2: Lower to <|lime|><|cube|> at <|13-18|> with height 18\nStep 3: Close gripper on <|lime|><|cube|> at <|13-18|> with height 18\nStep 4: Lift <|lime|><|cube|> at <|13-18|> to height 30\nStep 5: Move to <|yellow|><|triangular prism|> location at <|18-12|> with height 30\nStep 6: Stack on top of <|yellow|><|triangular prism|> location at <|18-12|> with height 17 + 4 and open gripper\n\n</think>\n\nStep 1: [\"<|13-18|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|13-18|>\", 18, 0, 60, 90, 1]\nStep 3: [\"<|13-18|>\", 18, 0, 60, 90, 0]\nStep 4: [\"<|13-18|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|18-12|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|18-12|>\", 21, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 38, 54, 30, 0, 60, 90, 1 ], [ 38, 54, 18, 0, 60, 90, 1 ], [ 38, 54, 18, 0, 60, 90, 0 ], [ 38, 54, 30, 0, 60, 90, 0 ], [ 26, 42, 30, 0, 60, 90, 0 ], [ 26, 42, 22, 0, 60, 90, 1 ] ]

[ { "content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\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|><|cube|>\": 18, \"<|cyan|><|moon|>\": 18, \"<|magenta|><|cylinder|>\": 18, \"<|red|><|cube|>\": 17, \"<|violet|><|cylinder|>\": 17, \"<|rose|><|cube|>\": 18}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the rose cube on top of the magenta cylinder\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|blue|><|cube|><|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|><|magenta|><|cylinder|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|violet|><|cylinder|><|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|><|rose|><|cube|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|cyan|><|moon|><|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|><|red|><|cube|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|rose|><|cube|> found at <|13-9|> with height 18\nTarget Placement Location: <|magenta|><|cylinder|> at <|10-6|> with height 18\nPLAN ACTIONS:\nStep 1: Move above <|rose|><|cube|> at <|13-9|> with height 30\nStep 2: Lower to <|rose|><|cube|> at <|13-9|> with height 18\nStep 3: Close gripper on <|rose|><|cube|> at <|13-9|> with height 18\nStep 4: Lift <|rose|><|cube|> at <|13-9|> to height 30\nStep 5: Move to <|magenta|><|cylinder|> location at <|10-6|> with height 30\nStep 6: Stack on top of <|magenta|><|cylinder|> location at <|10-6|> with height 18 + 4 and open gripper\n\n</think>\n\nStep 1: [\"<|13-9|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|13-9|>\", 18, 0, 60, 90, 1]\nStep 3: [\"<|13-9|>\", 18, 0, 60, 90, 0]\nStep 4: [\"<|13-9|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|10-6|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|10-6|>\", 22, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 42, 84, 30, 0, 60, 90, 1 ], [ 42, 84, 17, 0, 60, 90, 1 ], [ 42, 84, 17, 0, 60, 90, 0 ], [ 42, 84, 30, 0, 60, 90, 0 ], [ 72, 13, 30, 0, 60, 90, 0 ], [ 72, 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: {\"<|maroon|><|cube|>\": 17, \"<|rose|><|star|>\": 18, \"<|teal|><|moon|>\": 18, \"<|magenta|><|container|>\": 17, \"<|silver|><|triangular prism|>\": 18}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the maroon cube and place it into the magenta container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|magenta|><|container|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|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|><|rose|><|star|><|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|><|silver|><|triangular prism|><|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|><|maroon|><|cube|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|teal|><|moon|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|maroon|><|cube|> found at <|21-10|> with height 17\nTarget Placement Location: <|magenta|><|container|> at <|3-18|> with height 17\nPLAN ACTIONS:\nStep 1: Move above <|maroon|><|cube|> at <|21-10|> with height 30\nStep 2: Lower to <|maroon|><|cube|> at <|21-10|> with height 17\nStep 3: Close gripper on <|maroon|><|cube|> at <|21-10|> with height 17\nStep 4: Lift <|maroon|><|cube|> at <|21-10|> to height 30\nStep 5: Move to <|magenta|><|container|> location at <|3-18|> with height 30\nStep 6: Place inside <|magenta|><|container|> location at <|3-18|> with height 17 and open gripper\n\n</think>\n\nStep 1: [\"<|21-10|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|21-10|>\", 17, 0, 60, 90, 1]\nStep 3: [\"<|21-10|>\", 17, 0, 60, 90, 0]\nStep 4: [\"<|21-10|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|3-18|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|3-18|>\", 17, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 69, 84, 30, 0, 60, 90, 1 ], [ 69, 84, 18, 0, 60, 90, 1 ], [ 69, 84, 18, 0, 60, 90, 0 ], [ 69, 84, 30, 0, 60, 90, 0 ], [ 76, 33, 30, 0, 60, 90, 0 ], [ 76, 33, 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: {\"<|violet|><|cylinder|>\": 18, \"<|gray|><|cube|>\": 18, \"<|rose|><|container|>\": 17, \"<|violet|><|moon|>\": 18, \"<|rose|><|triangular prism|>\": 18}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the violet moon and place it into the rose container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|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|><|rose|><|container|><|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|><|violet|><|cylinder|><|13-13|><|gray|><|cube|><|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|><|rose|><|triangular prism|><|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|><|violet|><|moon|><|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|><|moon|> found at <|21-17|> with height 18\nTarget Placement Location: <|rose|><|container|> at <|8-19|> with height 17\nPLAN ACTIONS:\nStep 1: Move above <|violet|><|moon|> at <|21-17|> with height 30\nStep 2: Lower to <|violet|><|moon|> at <|21-17|> with height 18\nStep 3: Close gripper on <|violet|><|moon|> at <|21-17|> with height 18\nStep 4: Lift <|violet|><|moon|> at <|21-17|> to height 30\nStep 5: Move to <|rose|><|container|> location at <|8-19|> with height 30\nStep 6: Place inside <|rose|><|container|> location at <|8-19|> with height 17 and open gripper\n\n</think>\n\nStep 1: [\"<|21-17|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|21-17|>\", 18, 0, 60, 90, 1]\nStep 3: [\"<|21-17|>\", 18, 0, 60, 90, 0]\nStep 4: [\"<|21-17|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|8-19|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|8-19|>\", 17, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 55, 64, 30, 0, 60, 90, 1 ], [ 55, 64, 18, 0, 60, 90, 1 ], [ 55, 64, 18, 0, 60, 90, 0 ], [ 55, 64, 30, 0, 60, 90, 0 ], [ 90, 86, 30, 0, 60, 90, 0 ], [ 90, 86, 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: {\"<|violet|><|container|>\": 19, \"<|blue|><|star|>\": 17, \"<|silver|><|cylinder|>\": 17, \"<|gray|><|star|>\": 18, \"<|purple|><|cylinder|>\": 17, \"<|lime|><|star|>\": 18, \"<|rose|><|star|>\": 17}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the lime star and place it into the violet container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|rose|><|star|><|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|><|silver|><|cylinder|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|lime|><|star|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|blue|><|star|><|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|><|purple|><|cylinder|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|gray|><|star|><|21-22|><|violet|><|container|><|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 <|16-13|> with height 18\nTarget Placement Location: <|violet|><|container|> at <|21-22|> with height 19\nPLAN ACTIONS:\nStep 1: Move above <|lime|><|star|> at <|16-13|> with height 30\nStep 2: Lower to <|lime|><|star|> at <|16-13|> with height 18\nStep 3: Close gripper on <|lime|><|star|> at <|16-13|> with height 18\nStep 4: Lift <|lime|><|star|> at <|16-13|> to height 30\nStep 5: Move to <|violet|><|container|> location at <|21-22|> with height 30\nStep 6: Place inside <|violet|><|container|> location at <|21-22|> with height 19 and open gripper\n\n</think>\n\nStep 1: [\"<|16-13|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|16-13|>\", 18, 0, 60, 90, 1]\nStep 3: [\"<|16-13|>\", 18, 0, 60, 90, 0]\nStep 4: [\"<|16-13|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|21-22|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|21-22|>\", 19, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 37, 48, 30, 0, 60, 90, 1 ], [ 37, 48, 18, 0, 60, 90, 1 ], [ 37, 48, 18, 0, 60, 90, 0 ], [ 37, 48, 30, 0, 60, 90, 0 ], [ 57, 82, 30, 0, 60, 90, 0 ], [ 57, 82, 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: {\"<|purple|><|moon|>\": 18, \"<|rose|><|cube|>\": 17, \"<|lime|><|triangular prism|>\": 18, \"<|lime|><|cube|>\": 17, \"<|yellow|><|cylinder|>\": 18, \"<|azure|><|container|>\": 19, \"<|cyan|><|star|>\": 18}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the yellow cylinder and place it into the azure container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|lime|><|cube|><|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|><|rose|><|cube|><|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|><|cyan|><|star|><|12-9|><|yellow|><|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|><|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|><|purple|><|moon|><|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|><|lime|><|triangular prism|><|20-13|><|empty|><|20-14|><|azure|><|container|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|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: <|yellow|><|cylinder|> found at <|12-9|> with height 18\nTarget Placement Location: <|azure|><|container|> at <|20-14|> with height 19\nPLAN ACTIONS:\nStep 1: Move above <|yellow|><|cylinder|> at <|12-9|> with height 30\nStep 2: Lower to <|yellow|><|cylinder|> at <|12-9|> with height 18\nStep 3: Close gripper on <|yellow|><|cylinder|> at <|12-9|> with height 18\nStep 4: Lift <|yellow|><|cylinder|> at <|12-9|> to height 30\nStep 5: Move to <|azure|><|container|> location at <|20-14|> with height 30\nStep 6: Place inside <|azure|><|container|> location at <|20-14|> with height 19 and open gripper\n\n</think>\n\nStep 1: [\"<|12-9|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|12-9|>\", 18, 0, 60, 90, 1]\nStep 3: [\"<|12-9|>\", 18, 0, 60, 90, 0]\nStep 4: [\"<|12-9|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|20-14|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|20-14|>\", 19, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 74, 85, 30, 0, 60, 90, 1 ], [ 74, 85, 18, 0, 60, 90, 1 ], [ 74, 85, 18, 0, 60, 90, 0 ], [ 74, 85, 30, 0, 60, 90, 0 ], [ 62, 77, 30, 0, 60, 90, 0 ], [ 62, 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: {\"<|lime|><|cube|>\": 19, \"<|maroon|><|cube|>\": 18, \"<|teal|><|star|>\": 18, \"<|blue|><|cube|>\": 17, \"<|navy|><|moon|>\": 18}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the teal star on top of the lime cube\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|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|><|navy|><|moon|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|maroon|><|cube|><|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|><|lime|><|cube|><|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|><|teal|><|star|><|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|><|star|> found at <|21-18|> with height 18\nTarget Placement Location: <|lime|><|cube|> at <|19-15|> with height 19\nPLAN ACTIONS:\nStep 1: Move above <|teal|><|star|> at <|21-18|> with height 30\nStep 2: Lower to <|teal|><|star|> at <|21-18|> with height 18\nStep 3: Close gripper on <|teal|><|star|> at <|21-18|> with height 18\nStep 4: Lift <|teal|><|star|> at <|21-18|> to height 30\nStep 5: Move to <|lime|><|cube|> location at <|19-15|> with height 30\nStep 6: Stack on top of <|lime|><|cube|> location at <|19-15|> with height 19 + 4 and open gripper\n\n</think>\n\nStep 1: [\"<|21-18|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|21-18|>\", 18, 0, 60, 90, 1]\nStep 3: [\"<|21-18|>\", 18, 0, 60, 90, 0]\nStep 4: [\"<|21-18|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|19-15|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|19-15|>\", 23, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 30, 84, 30, 0, 60, 90, 1 ], [ 30, 84, 18, 0, 60, 90, 1 ], [ 30, 84, 18, 0, 60, 90, 0 ], [ 30, 84, 30, 0, 60, 90, 0 ], [ 65, 87, 30, 0, 60, 90, 0 ], [ 65, 87, 22, 0, 60, 90, 1 ] ]

[ { "content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\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|><|star|>\": 18, \"<|cyan|><|cylinder|>\": 18, \"<|red|><|triangular prism|>\": 18, \"<|rose|><|cylinder|>\": 17, \"<|magenta|><|cube|>\": 17, \"<|maroon|><|star|>\": 17, \"<|lime|><|triangular prism|>\": 18}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the green star on top of the cyan cylinder\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|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|><|magenta|><|cube|><|7-12|><|empty|><|7-13|><|red|><|triangular prism|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|maroon|><|star|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|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|><|lime|><|triangular prism|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|rose|><|cylinder|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|green|><|star|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|cyan|><|cylinder|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|green|><|star|> found at <|21-7|> with height 18\nTarget Placement Location: <|cyan|><|cylinder|> at <|21-16|> with height 18\nPLAN ACTIONS:\nStep 1: Move above <|green|><|star|> at <|21-7|> with height 30\nStep 2: Lower to <|green|><|star|> at <|21-7|> with height 18\nStep 3: Close gripper on <|green|><|star|> at <|21-7|> with height 18\nStep 4: Lift <|green|><|star|> at <|21-7|> to height 30\nStep 5: Move to <|cyan|><|cylinder|> location at <|21-16|> with height 30\nStep 6: Stack on top of <|cyan|><|cylinder|> location at <|21-16|> with height 18 + 4 and open gripper\n\n</think>\n\nStep 1: [\"<|21-7|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|21-7|>\", 18, 0, 60, 90, 1]\nStep 3: [\"<|21-7|>\", 18, 0, 60, 90, 0]\nStep 4: [\"<|21-7|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|21-16|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|21-16|>\", 22, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 69, 54, 30, 0, 60, 90, 1 ], [ 69, 54, 18, 0, 60, 90, 1 ], [ 69, 54, 18, 0, 60, 90, 0 ], [ 69, 54, 30, 0, 60, 90, 0 ], [ 76, 85, 30, 0, 60, 90, 0 ], [ 76, 85, 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: {\"<|yellow|><|triangular prism|>\": 17, \"<|cyan|><|cube|>\": 18, \"<|gray|><|cube|>\": 18, \"<|silver|><|star|>\": 17, \"<|navy|><|cylinder|>\": 17, \"<|lime|><|star|>\": 18}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the gray cube on top of the navy 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|><|cyan|><|cube|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|gray|><|cube|><|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|><|lime|><|star|><|16-20|><|yellow|><|triangular prism|><|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|><|silver|><|star|><|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|><|navy|><|cylinder|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|gray|><|cube|> found at <|13-17|> with height 18\nTarget Placement Location: <|navy|><|cylinder|> at <|21-19|> with height 17\nPLAN ACTIONS:\nStep 1: Move above <|gray|><|cube|> at <|13-17|> with height 30\nStep 2: Lower to <|gray|><|cube|> at <|13-17|> with height 18\nStep 3: Close gripper on <|gray|><|cube|> at <|13-17|> with height 18\nStep 4: Lift <|gray|><|cube|> at <|13-17|> to height 30\nStep 5: Move to <|navy|><|cylinder|> location at <|21-19|> with height 30\nStep 6: Stack on top of <|navy|><|cylinder|> location at <|21-19|> with height 17 + 4 and open gripper\n\n</think>\n\nStep 1: [\"<|13-17|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|13-17|>\", 18, 0, 60, 90, 1]\nStep 3: [\"<|13-17|>\", 18, 0, 60, 90, 0]\nStep 4: [\"<|13-17|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|21-19|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|21-19|>\", 21, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 22, 47, 30, 0, 60, 90, 1 ], [ 22, 47, 17, 0, 60, 90, 1 ], [ 22, 47, 17, 0, 60, 90, 0 ], [ 22, 47, 30, 0, 60, 90, 0 ], [ 76, 88, 30, 0, 60, 90, 0 ], [ 76, 88, 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: {\"<|white|><|cube|>\": 17, \"<|gray|><|triangular prism|>\": 17, \"<|green|><|container|>\": 18, \"<|azure|><|star|>\": 17, \"<|rose|><|star|>\": 18, \"<|blue|><|moon|>\": 18, \"<|azure|><|cube|>\": 18}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the azure star and place it into the green container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|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|><|gray|><|triangular prism|><|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|><|azure|><|star|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|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|><|rose|><|star|><|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|><|azure|><|cube|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|blue|><|moon|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|green|><|container|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|white|><|cube|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|azure|><|star|> found at <|11-5|> with height 17\nTarget Placement Location: <|green|><|container|> at <|22-19|> with height 18\nPLAN ACTIONS:\nStep 1: Move above <|azure|><|star|> at <|11-5|> with height 30\nStep 2: Lower to <|azure|><|star|> at <|11-5|> with height 17\nStep 3: Close gripper on <|azure|><|star|> at <|11-5|> with height 17\nStep 4: Lift <|azure|><|star|> at <|11-5|> to height 30\nStep 5: Move to <|green|><|container|> location at <|22-19|> with height 30\nStep 6: Place inside <|green|><|container|> location at <|22-19|> with height 18 and open gripper\n\n</think>\n\nStep 1: [\"<|11-5|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|11-5|>\", 17, 0, 60, 90, 1]\nStep 3: [\"<|11-5|>\", 17, 0, 60, 90, 0]\nStep 4: [\"<|11-5|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|22-19|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|22-19|>\", 18, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 85, 81, 30, 0, 60, 90, 1 ], [ 85, 81, 17, 0, 60, 90, 1 ], [ 85, 81, 17, 0, 60, 90, 0 ], [ 85, 81, 30, 0, 60, 90, 0 ], [ 90, 86, 30, 0, 60, 90, 0 ], [ 90, 86, 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|>\": 19, \"<|black|><|triangular prism|>\": 18, \"<|red|><|cylinder|>\": 17, \"<|maroon|><|cylinder|>\": 18, \"<|navy|><|triangular prism|>\": 18, \"<|olive|><|moon|>\": 17}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the olive moon on top of the azure star\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|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|><|black|><|triangular prism|><|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|><|navy|><|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|><|maroon|><|cylinder|><|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|><|red|><|cylinder|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|olive|><|moon|><|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|><|azure|><|star|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|olive|><|moon|> found at <|20-21|> with height 17\nTarget Placement Location: <|azure|><|star|> at <|21-22|> with height 19\nPLAN ACTIONS:\nStep 1: Move above <|olive|><|moon|> at <|20-21|> with height 30\nStep 2: Lower to <|olive|><|moon|> at <|20-21|> with height 17\nStep 3: Close gripper on <|olive|><|moon|> at <|20-21|> with height 17\nStep 4: Lift <|olive|><|moon|> at <|20-21|> to height 30\nStep 5: Move to <|azure|><|star|> location at <|21-22|> with height 30\nStep 6: Stack on top of <|azure|><|star|> location at <|21-22|> with height 19 + 4 and open gripper\n\n</think>\n\nStep 1: [\"<|20-21|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|20-21|>\", 17, 0, 60, 90, 1]\nStep 3: [\"<|20-21|>\", 17, 0, 60, 90, 0]\nStep 4: [\"<|20-21|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|21-22|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|21-22|>\", 23, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 34, 84, 30, 0, 60, 90, 1 ], [ 34, 84, 18, 0, 60, 90, 1 ], [ 34, 84, 18, 0, 60, 90, 0 ], [ 34, 84, 30, 0, 60, 90, 0 ], [ 62, 17, 30, 0, 60, 90, 0 ], [ 62, 17, 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|><|star|>\": 18, \"<|rose|><|triangular prism|>\": 17, \"<|cyan|><|container|>\": 18, \"<|blue|><|triangular prism|>\": 17, \"<|teal|><|cube|>\": 17, \"<|black|><|cube|>\": 18, \"<|navy|><|triangular prism|>\": 17}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the maroon star and place it into the cyan container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|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|><|cyan|><|container|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|teal|><|cube|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|navy|><|triangular prism|><|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|><|rose|><|triangular prism|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|black|><|cube|><|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|><|maroon|><|star|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|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|><|blue|><|triangular prism|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|maroon|><|star|> found at <|21-8|> with height 18\nTarget Placement Location: <|cyan|><|container|> at <|4-15|> with height 18\nPLAN ACTIONS:\nStep 1: Move above <|maroon|><|star|> at <|21-8|> with height 30\nStep 2: Lower to <|maroon|><|star|> at <|21-8|> with height 18\nStep 3: Close gripper on <|maroon|><|star|> at <|21-8|> with height 18\nStep 4: Lift <|maroon|><|star|> at <|21-8|> to height 30\nStep 5: Move to <|cyan|><|container|> location at <|4-15|> with height 30\nStep 6: Place inside <|cyan|><|container|> location at <|4-15|> with height 18 and open gripper\n\n</think>\n\nStep 1: [\"<|21-8|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|21-8|>\", 18, 0, 60, 90, 1]\nStep 3: [\"<|21-8|>\", 18, 0, 60, 90, 0]\nStep 4: [\"<|21-8|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|4-15|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|4-15|>\", 18, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 74, 61, 30, 0, 60, 90, 1 ], [ 74, 61, 18, 0, 60, 90, 1 ], [ 74, 61, 18, 0, 60, 90, 0 ], [ 74, 61, 30, 0, 60, 90, 0 ], [ 54, 44, 30, 0, 60, 90, 0 ], [ 54, 44, 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: {\"<|maroon|><|cylinder|>\": 18, \"<|blue|><|triangular prism|>\": 18, \"<|violet|><|cylinder|>\": 17, \"<|red|><|cylinder|>\": 18, \"<|teal|><|container|>\": 19}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the red cylinder and place it into the teal container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|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|><|violet|><|cylinder|><|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|><|teal|><|container|><|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|><|red|><|cylinder|><|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|><|maroon|><|cylinder|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|blue|><|triangular prism|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|red|><|cylinder|> found at <|15-18|> with height 18\nTarget Placement Location: <|teal|><|container|> at <|11-13|> with height 19\nPLAN ACTIONS:\nStep 1: Move above <|red|><|cylinder|> at <|15-18|> with height 30\nStep 2: Lower to <|red|><|cylinder|> at <|15-18|> with height 18\nStep 3: Close gripper on <|red|><|cylinder|> at <|15-18|> with height 18\nStep 4: Lift <|red|><|cylinder|> at <|15-18|> to height 30\nStep 5: Move to <|teal|><|container|> location at <|11-13|> with height 30\nStep 6: Place inside <|teal|><|container|> location at <|11-13|> with height 19 and open gripper\n\n</think>\n\nStep 1: [\"<|15-18|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|15-18|>\", 18, 0, 60, 90, 1]\nStep 3: [\"<|15-18|>\", 18, 0, 60, 90, 0]\nStep 4: [\"<|15-18|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|11-13|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|11-13|>\", 19, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 64, 58, 30, 0, 60, 90, 1 ], [ 64, 58, 17, 0, 60, 90, 1 ], [ 64, 58, 17, 0, 60, 90, 0 ], [ 64, 58, 30, 0, 60, 90, 0 ], [ 64, 45, 30, 0, 60, 90, 0 ], [ 64, 45, 18, 0, 60, 90, 1 ] ]

[ { "content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 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|><|container|>\": 18, \"<|gray|><|moon|>\": 17, \"<|purple|><|cylinder|>\": 18, \"<|blue|><|star|>\": 17, \"<|navy|><|moon|>\": 18, \"<|olive|><|moon|>\": 17, \"<|green|><|star|>\": 17}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the blue star and place it into the green container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|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|><|olive|><|moon|><|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|><|gray|><|moon|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|navy|><|moon|><|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|><|green|><|container|><|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|><|purple|><|cylinder|><|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|><|blue|><|star|><|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|><|green|><|star|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|blue|><|star|> found at <|14-16|> with height 17\nTarget Placement Location: <|green|><|container|> at <|11-16|> with height 18\nPLAN ACTIONS:\nStep 1: Move above <|blue|><|star|> at <|14-16|> with height 30\nStep 2: Lower to <|blue|><|star|> at <|14-16|> with height 17\nStep 3: Close gripper on <|blue|><|star|> at <|14-16|> with height 17\nStep 4: Lift <|blue|><|star|> at <|14-16|> to height 30\nStep 5: Move to <|green|><|container|> location at <|11-16|> with height 30\nStep 6: Place inside <|green|><|container|> location at <|11-16|> with height 18 and open gripper\n\n</think>\n\nStep 1: [\"<|14-16|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|14-16|>\", 17, 0, 60, 90, 1]\nStep 3: [\"<|14-16|>\", 17, 0, 60, 90, 0]\nStep 4: [\"<|14-16|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|11-16|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|11-16|>\", 18, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 25, 59, 30, 0, 60, 90, 1 ], [ 25, 59, 18, 0, 60, 90, 1 ], [ 25, 59, 18, 0, 60, 90, 0 ], [ 25, 59, 30, 0, 60, 90, 0 ], [ 41, 42, 30, 0, 60, 90, 0 ], [ 41, 42, 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: {\"<|azure|><|cylinder|>\": 18, \"<|cyan|><|cube|>\": 18, \"<|azure|><|cube|>\": 17, \"<|olive|><|cube|>\": 17, \"<|azure|><|triangular prism|>\": 17, \"<|violet|><|star|>\": 18}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the violet star on top of the azure cube\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|cyan|><|cube|><|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|><|azure|><|cube|><|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|><|olive|><|cube|><|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|><|violet|><|star|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|azure|><|cylinder|><|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|><|azure|><|triangular prism|><|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: <|violet|><|star|> found at <|14-6|> with height 18\nTarget Placement Location: <|azure|><|cube|> at <|10-10|> with height 17\nPLAN ACTIONS:\nStep 1: Move above <|violet|><|star|> at <|14-6|> with height 30\nStep 2: Lower to <|violet|><|star|> at <|14-6|> with height 18\nStep 3: Close gripper on <|violet|><|star|> at <|14-6|> with height 18\nStep 4: Lift <|violet|><|star|> at <|14-6|> to height 30\nStep 5: Move to <|azure|><|cube|> location at <|10-10|> with height 30\nStep 6: Stack on top of <|azure|><|cube|> location at <|10-10|> with height 17 + 4 and open gripper\n\n</think>\n\nStep 1: [\"<|14-6|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|14-6|>\", 18, 0, 60, 90, 1]\nStep 3: [\"<|14-6|>\", 18, 0, 60, 90, 0]\nStep 4: [\"<|14-6|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|10-10|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|10-10|>\", 21, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 54, 28, 30, 0, 60, 90, 1 ], [ 54, 28, 17, 0, 60, 90, 1 ], [ 54, 28, 17, 0, 60, 90, 0 ], [ 54, 28, 30, 0, 60, 90, 0 ], [ 32, 76, 30, 0, 60, 90, 0 ], [ 32, 76, 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: {\"<|black|><|moon|>\": 18, \"<|red|><|star|>\": 17, \"<|olive|><|cylinder|>\": 18, \"<|magenta|><|triangular prism|>\": 17, \"<|red|><|moon|>\": 18}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the magenta triangular prism on top of the red star\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|magenta|><|triangular prism|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|black|><|moon|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|red|><|moon|><|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|><|olive|><|cylinder|><|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|><|red|><|star|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|magenta|><|triangular prism|> found at <|7-13|> with height 17\nTarget Placement Location: <|red|><|star|> at <|19-8|> with height 17\nPLAN ACTIONS:\nStep 1: Move above <|magenta|><|triangular prism|> at <|7-13|> with height 30\nStep 2: Lower to <|magenta|><|triangular prism|> at <|7-13|> with height 17\nStep 3: Close gripper on <|magenta|><|triangular prism|> at <|7-13|> with height 17\nStep 4: Lift <|magenta|><|triangular prism|> at <|7-13|> to height 30\nStep 5: Move to <|red|><|star|> location at <|19-8|> with height 30\nStep 6: Stack on top of <|red|><|star|> location at <|19-8|> with height 17 + 4 and open gripper\n\n</think>\n\nStep 1: [\"<|7-13|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|7-13|>\", 17, 0, 60, 90, 1]\nStep 3: [\"<|7-13|>\", 17, 0, 60, 90, 0]\nStep 4: [\"<|7-13|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|19-8|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|19-8|>\", 21, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 44, 38, 30, 0, 60, 90, 1 ], [ 44, 38, 18, 0, 60, 90, 1 ], [ 44, 38, 18, 0, 60, 90, 0 ], [ 44, 38, 30, 0, 60, 90, 0 ], [ 77, 64, 30, 0, 60, 90, 0 ], [ 77, 64, 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: {\"<|navy|><|cube|>\": 17, \"<|silver|><|cylinder|>\": 18, \"<|azure|><|container|>\": 18, \"<|blue|><|moon|>\": 17, \"<|cyan|><|cube|>\": 18, \"<|yellow|><|moon|>\": 18}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the silver cylinder and place it into the azure container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|navy|><|cube|><|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|><|silver|><|cylinder|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|yellow|><|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|><|cyan|><|cube|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|blue|><|moon|><|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|><|azure|><|container|><|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: <|silver|><|cylinder|> found at <|9-11|> with height 18\nTarget Placement Location: <|azure|><|container|> at <|16-19|> with height 18\nPLAN ACTIONS:\nStep 1: Move above <|silver|><|cylinder|> at <|9-11|> with height 30\nStep 2: Lower to <|silver|><|cylinder|> at <|9-11|> with height 18\nStep 3: Close gripper on <|silver|><|cylinder|> at <|9-11|> with height 18\nStep 4: Lift <|silver|><|cylinder|> at <|9-11|> to height 30\nStep 5: Move to <|azure|><|container|> location at <|16-19|> with height 30\nStep 6: Place inside <|azure|><|container|> location at <|16-19|> with height 18 and open gripper\n\n</think>\n\nStep 1: [\"<|9-11|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|9-11|>\", 18, 0, 60, 90, 1]\nStep 3: [\"<|9-11|>\", 18, 0, 60, 90, 0]\nStep 4: [\"<|9-11|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|16-19|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|16-19|>\", 18, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 34, 86, 30, 0, 60, 90, 1 ], [ 34, 86, 18, 0, 60, 90, 1 ], [ 34, 86, 18, 0, 60, 90, 0 ], [ 34, 86, 30, 0, 60, 90, 0 ], [ 66, 13, 30, 0, 60, 90, 0 ], [ 66, 13, 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, \"<|green|><|star|>\": 17, \"<|teal|><|moon|>\": 17, \"<|cyan|><|moon|>\": 18, \"<|blue|><|cylinder|>\": 17, \"<|silver|><|triangular prism|>\": 18}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the silver triangular prism on top of the teal moon\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|teal|><|moon|><|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|><|magenta|><|moon|><|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|><|cyan|><|moon|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|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|><|blue|><|cylinder|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|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|><|green|><|star|><|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|><|silver|><|triangular prism|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|silver|><|triangular prism|> found at <|21-8|> with height 18\nTarget Placement Location: <|teal|><|moon|> at <|3-16|> with height 17\nPLAN ACTIONS:\nStep 1: Move above <|silver|><|triangular prism|> at <|21-8|> with height 30\nStep 2: Lower to <|silver|><|triangular prism|> at <|21-8|> with height 18\nStep 3: Close gripper on <|silver|><|triangular prism|> at <|21-8|> with height 18\nStep 4: Lift <|silver|><|triangular prism|> at <|21-8|> to height 30\nStep 5: Move to <|teal|><|moon|> location at <|3-16|> with height 30\nStep 6: Stack on top of <|teal|><|moon|> location at <|3-16|> with height 17 + 4 and open gripper\n\n</think>\n\nStep 1: [\"<|21-8|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|21-8|>\", 18, 0, 60, 90, 1]\nStep 3: [\"<|21-8|>\", 18, 0, 60, 90, 0]\nStep 4: [\"<|21-8|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|3-16|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|3-16|>\", 21, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 55, 37, 30, 0, 60, 90, 1 ], [ 55, 37, 18, 0, 60, 90, 1 ], [ 55, 37, 18, 0, 60, 90, 0 ], [ 55, 37, 30, 0, 60, 90, 0 ], [ 44, 82, 30, 0, 60, 90, 0 ], [ 44, 82, 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: {\"<|gray|><|moon|>\": 18, \"<|black|><|star|>\": 18, \"<|green|><|moon|>\": 17, \"<|blue|><|moon|>\": 18, \"<|magenta|><|container|>\": 19, \"<|rose|><|cylinder|>\": 18, \"<|green|><|star|>\": 18}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the black star and place it into the magenta container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|rose|><|cylinder|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|green|><|star|><|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|><|black|><|star|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|green|><|moon|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|blue|><|moon|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|magenta|><|container|><|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|><|gray|><|moon|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|black|><|star|> found at <|9-13|> with height 18\nTarget Placement Location: <|magenta|><|container|> at <|20-11|> with height 19\nPLAN ACTIONS:\nStep 1: Move above <|black|><|star|> at <|9-13|> with height 30\nStep 2: Lower to <|black|><|star|> at <|9-13|> with height 18\nStep 3: Close gripper on <|black|><|star|> at <|9-13|> with height 18\nStep 4: Lift <|black|><|star|> at <|9-13|> to height 30\nStep 5: Move to <|magenta|><|container|> location at <|20-11|> with height 30\nStep 6: Place inside <|magenta|><|container|> location at <|20-11|> with height 19 and open gripper\n\n</think>\n\nStep 1: [\"<|9-13|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|9-13|>\", 18, 0, 60, 90, 1]\nStep 3: [\"<|9-13|>\", 18, 0, 60, 90, 0]\nStep 4: [\"<|9-13|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|20-11|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|20-11|>\", 19, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 52, 38, 30, 0, 60, 90, 1 ], [ 52, 38, 18, 0, 60, 90, 1 ], [ 52, 38, 18, 0, 60, 90, 0 ], [ 52, 38, 30, 0, 60, 90, 0 ], [ 52, 35, 30, 0, 60, 90, 0 ], [ 52, 35, 22, 0, 60, 90, 1 ] ]

[ { "content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\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|><|cube|>\": 18, \"<|teal|><|moon|>\": 18, \"<|olive|><|triangular prism|>\": 18, \"<|blue|><|triangular prism|>\": 18, \"<|navy|><|triangular prism|>\": 18, \"<|violet|><|cylinder|>\": 18, \"<|lime|><|star|>\": 18}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the teal moon on top of the olive 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|><|olive|><|triangular prism|><|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|><|teal|><|moon|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|violet|><|cylinder|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|navy|><|triangular prism|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|lime|><|star|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|white|><|cube|><|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|><|blue|><|triangular prism|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|teal|><|moon|> found at <|9-13|> with height 18\nTarget Placement Location: <|olive|><|triangular prism|> at <|8-13|> with height 18\nPLAN ACTIONS:\nStep 1: Move above <|teal|><|moon|> at <|9-13|> with height 30\nStep 2: Lower to <|teal|><|moon|> at <|9-13|> with height 18\nStep 3: Close gripper on <|teal|><|moon|> at <|9-13|> with height 18\nStep 4: Lift <|teal|><|moon|> at <|9-13|> to height 30\nStep 5: Move to <|olive|><|triangular prism|> location at <|8-13|> with height 30\nStep 6: Stack on top of <|olive|><|triangular prism|> location at <|8-13|> with height 18 + 4 and open gripper\n\n</think>\n\nStep 1: [\"<|9-13|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|9-13|>\", 18, 0, 60, 90, 1]\nStep 3: [\"<|9-13|>\", 18, 0, 60, 90, 0]\nStep 4: [\"<|9-13|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|8-13|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|8-13|>\", 22, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 30, 48, 30, 0, 60, 90, 1 ], [ 30, 48, 17, 0, 60, 90, 1 ], [ 30, 48, 17, 0, 60, 90, 0 ], [ 30, 48, 30, 0, 60, 90, 0 ], [ 16, 78, 30, 0, 60, 90, 0 ], [ 16, 78, 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|>\": 19, \"<|white|><|triangular prism|>\": 18, \"<|black|><|cylinder|>\": 17, \"<|gray|><|triangular prism|>\": 18, \"<|green|><|cylinder|>\": 17}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the green cylinder on top of the 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|><|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|><|black|><|cylinder|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|green|><|cylinder|><|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|><|gray|><|triangular prism|><|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|><|white|><|moon|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|white|><|triangular prism|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|green|><|cylinder|> found at <|12-7|> with height 17\nTarget Placement Location: <|white|><|moon|> at <|19-4|> with height 19\nPLAN ACTIONS:\nStep 1: Move above <|green|><|cylinder|> at <|12-7|> with height 30\nStep 2: Lower to <|green|><|cylinder|> at <|12-7|> with height 17\nStep 3: Close gripper on <|green|><|cylinder|> at <|12-7|> with height 17\nStep 4: Lift <|green|><|cylinder|> at <|12-7|> to height 30\nStep 5: Move to <|white|><|moon|> location at <|19-4|> with height 30\nStep 6: Stack on top of <|white|><|moon|> location at <|19-4|> with height 19 + 4 and open gripper\n\n</think>\n\nStep 1: [\"<|12-7|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|12-7|>\", 17, 0, 60, 90, 1]\nStep 3: [\"<|12-7|>\", 17, 0, 60, 90, 0]\nStep 4: [\"<|12-7|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|19-4|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|19-4|>\", 23, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 52, 75, 30, 0, 60, 90, 1 ], [ 52, 75, 17, 0, 60, 90, 1 ], [ 52, 75, 17, 0, 60, 90, 0 ], [ 52, 75, 30, 0, 60, 90, 0 ], [ 50, 72, 30, 0, 60, 90, 0 ], [ 50, 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: {\"<|white|><|cube|>\": 17, \"<|yellow|><|cylinder|>\": 17, \"<|red|><|container|>\": 19, \"<|silver|><|cube|>\": 18, \"<|olive|><|cube|>\": 17}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the yellow cylinder and place it into the red container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|olive|><|cube|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|red|><|container|><|18-13|><|yellow|><|cylinder|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|silver|><|cube|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|white|><|cube|><|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: <|yellow|><|cylinder|> found at <|18-13|> with height 17\nTarget Placement Location: <|red|><|container|> at <|18-12|> with height 19\nPLAN ACTIONS:\nStep 1: Move above <|yellow|><|cylinder|> at <|18-13|> with height 30\nStep 2: Lower to <|yellow|><|cylinder|> at <|18-13|> with height 17\nStep 3: Close gripper on <|yellow|><|cylinder|> at <|18-13|> with height 17\nStep 4: Lift <|yellow|><|cylinder|> at <|18-13|> to height 30\nStep 5: Move to <|red|><|container|> location at <|18-12|> with height 30\nStep 6: Place inside <|red|><|container|> location at <|18-12|> with height 19 and open gripper\n\n</think>\n\nStep 1: [\"<|18-13|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|18-13|>\", 17, 0, 60, 90, 1]\nStep 3: [\"<|18-13|>\", 17, 0, 60, 90, 0]\nStep 4: [\"<|18-13|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|18-12|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|18-12|>\", 19, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 88, 70, 30, 0, 60, 90, 1 ], [ 88, 70, 17, 0, 60, 90, 1 ], [ 88, 70, 17, 0, 60, 90, 0 ], [ 88, 70, 30, 0, 60, 90, 0 ], [ 49, 55, 30, 0, 60, 90, 0 ], [ 49, 55, 22, 0, 60, 90, 1 ] ]

[ { "content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\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|><|cylinder|>\": 18, \"<|cyan|><|cylinder|>\": 18, \"<|blue|><|moon|>\": 17, \"<|lime|><|triangular prism|>\": 17, \"<|yellow|><|triangular prism|>\": 18, \"<|purple|><|triangular prism|>\": 18, \"<|blue|><|star|>\": 17}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the blue moon on top of the yellow 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|><|blue|><|star|><|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|><|purple|><|triangular prism|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|yellow|><|triangular prism|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|cyan|><|cylinder|><|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|><|blue|><|moon|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|lime|><|triangular prism|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|green|><|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|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|blue|><|moon|> found at <|17-22|> with height 17\nTarget Placement Location: <|yellow|><|triangular prism|> at <|13-12|> with height 18\nPLAN ACTIONS:\nStep 1: Move above <|blue|><|moon|> at <|17-22|> with height 30\nStep 2: Lower to <|blue|><|moon|> at <|17-22|> with height 17\nStep 3: Close gripper on <|blue|><|moon|> at <|17-22|> with height 17\nStep 4: Lift <|blue|><|moon|> at <|17-22|> to height 30\nStep 5: Move to <|yellow|><|triangular prism|> location at <|13-12|> with height 30\nStep 6: Stack on top of <|yellow|><|triangular prism|> location at <|13-12|> with height 18 + 4 and open gripper\n\n</think>\n\nStep 1: [\"<|17-22|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|17-22|>\", 17, 0, 60, 90, 1]\nStep 3: [\"<|17-22|>\", 17, 0, 60, 90, 0]\nStep 4: [\"<|17-22|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|13-12|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|13-12|>\", 22, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 50, 81, 30, 0, 60, 90, 1 ], [ 50, 81, 18, 0, 60, 90, 1 ], [ 50, 81, 18, 0, 60, 90, 0 ], [ 50, 81, 30, 0, 60, 90, 0 ], [ 62, 54, 30, 0, 60, 90, 0 ], [ 62, 54, 22, 0, 60, 90, 1 ] ]

[ { "content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\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: {\"<|rose|><|star|>\": 18, \"<|rose|><|triangular prism|>\": 18, \"<|cyan|><|cylinder|>\": 17, \"<|olive|><|moon|>\": 18, \"<|teal|><|cylinder|>\": 17, \"<|teal|><|star|>\": 18, \"<|teal|><|triangular prism|>\": 18}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the olive moon on top of the rose star\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|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|><|cyan|><|cylinder|><|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|><|teal|><|star|><|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|><|rose|><|star|><|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|><|rose|><|triangular prism|><|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|><|teal|><|cylinder|><|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|><|olive|><|moon|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|teal|><|triangular prism|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|olive|><|moon|> found at <|20-12|> with height 18\nTarget Placement Location: <|rose|><|star|> at <|13-15|> with height 18\nPLAN ACTIONS:\nStep 1: Move above <|olive|><|moon|> at <|20-12|> with height 30\nStep 2: Lower to <|olive|><|moon|> at <|20-12|> with height 18\nStep 3: Close gripper on <|olive|><|moon|> at <|20-12|> with height 18\nStep 4: Lift <|olive|><|moon|> at <|20-12|> to height 30\nStep 5: Move to <|rose|><|star|> location at <|13-15|> with height 30\nStep 6: Stack on top of <|rose|><|star|> location at <|13-15|> with height 18 + 4 and open gripper\n\n</think>\n\nStep 1: [\"<|20-12|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|20-12|>\", 18, 0, 60, 90, 1]\nStep 3: [\"<|20-12|>\", 18, 0, 60, 90, 0]\nStep 4: [\"<|20-12|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|13-15|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|13-15|>\", 22, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 84, 38, 30, 0, 60, 90, 1 ], [ 84, 38, 18, 0, 60, 90, 1 ], [ 84, 38, 18, 0, 60, 90, 0 ], [ 84, 38, 30, 0, 60, 90, 0 ], [ 64, 55, 30, 0, 60, 90, 0 ], [ 64, 55, 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: {\"<|rose|><|cube|>\": 18, \"<|teal|><|container|>\": 17, \"<|cyan|><|moon|>\": 17, \"<|red|><|triangular prism|>\": 17, \"<|azure|><|star|>\": 17}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the rose cube and place it into the teal container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|azure|><|star|><|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|><|rose|><|cube|><|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|><|teal|><|container|><|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|><|red|><|triangular prism|><|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|><|cyan|><|moon|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|rose|><|cube|> found at <|9-21|> with height 18\nTarget Placement Location: <|teal|><|container|> at <|13-16|> with height 17\nPLAN ACTIONS:\nStep 1: Move above <|rose|><|cube|> at <|9-21|> with height 30\nStep 2: Lower to <|rose|><|cube|> at <|9-21|> with height 18\nStep 3: Close gripper on <|rose|><|cube|> at <|9-21|> with height 18\nStep 4: Lift <|rose|><|cube|> at <|9-21|> to height 30\nStep 5: Move to <|teal|><|container|> location at <|13-16|> with height 30\nStep 6: Place inside <|teal|><|container|> location at <|13-16|> with height 17 and open gripper\n\n</think>\n\nStep 1: [\"<|9-21|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|9-21|>\", 18, 0, 60, 90, 1]\nStep 3: [\"<|9-21|>\", 18, 0, 60, 90, 0]\nStep 4: [\"<|9-21|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|13-16|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|13-16|>\", 17, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 40, 47, 30, 0, 60, 90, 1 ], [ 40, 47, 17, 0, 60, 90, 1 ], [ 40, 47, 17, 0, 60, 90, 0 ], [ 40, 47, 30, 0, 60, 90, 0 ], [ 20, 71, 30, 0, 60, 90, 0 ], [ 20, 71, 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: {\"<|blue|><|cylinder|>\": 17, \"<|white|><|moon|>\": 18, \"<|red|><|star|>\": 17, \"<|magenta|><|container|>\": 17, \"<|white|><|cylinder|>\": 18}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the red star and place it into the magenta container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|white|><|cylinder|><|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|><|white|><|moon|><|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|><|red|><|star|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|blue|><|cylinder|><|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|><|magenta|><|container|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|red|><|star|> found at <|11-10|> with height 17\nTarget Placement Location: <|magenta|><|container|> at <|17-5|> with height 17\nPLAN ACTIONS:\nStep 1: Move above <|red|><|star|> at <|11-10|> with height 30\nStep 2: Lower to <|red|><|star|> at <|11-10|> with height 17\nStep 3: Close gripper on <|red|><|star|> at <|11-10|> with height 17\nStep 4: Lift <|red|><|star|> at <|11-10|> to height 30\nStep 5: Move to <|magenta|><|container|> location at <|17-5|> with height 30\nStep 6: Place inside <|magenta|><|container|> location at <|17-5|> with height 17 and open gripper\n\n</think>\n\nStep 1: [\"<|11-10|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|11-10|>\", 17, 0, 60, 90, 1]\nStep 3: [\"<|11-10|>\", 17, 0, 60, 90, 0]\nStep 4: [\"<|11-10|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|17-5|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|17-5|>\", 17, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 30, 83, 30, 0, 60, 90, 1 ], [ 30, 83, 17, 0, 60, 90, 1 ], [ 30, 83, 17, 0, 60, 90, 0 ], [ 30, 83, 30, 0, 60, 90, 0 ], [ 28, 14, 30, 0, 60, 90, 0 ], [ 28, 14, 22, 0, 60, 90, 1 ] ]

[ { "content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\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: {\"<|silver|><|star|>\": 17, \"<|red|><|triangular prism|>\": 18, \"<|magenta|><|star|>\": 18, \"<|green|><|star|>\": 18, \"<|cyan|><|triangular prism|>\": 18, \"<|white|><|moon|>\": 17, \"<|rose|><|star|>\": 17}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the white moon on top of the cyan 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|><|cyan|><|triangular prism|><|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|><|green|><|star|><|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|><|rose|><|star|><|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|><|silver|><|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|><|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|><|magenta|><|star|><|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|><|red|><|triangular prism|><|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|><|white|><|moon|><|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 <|20-7|> with height 17\nTarget Placement Location: <|cyan|><|triangular prism|> at <|3-7|> with height 18\nPLAN ACTIONS:\nStep 1: Move above <|white|><|moon|> at <|20-7|> with height 30\nStep 2: Lower to <|white|><|moon|> at <|20-7|> with height 17\nStep 3: Close gripper on <|white|><|moon|> at <|20-7|> with height 17\nStep 4: Lift <|white|><|moon|> at <|20-7|> to height 30\nStep 5: Move to <|cyan|><|triangular prism|> location at <|3-7|> with height 30\nStep 6: Stack on top of <|cyan|><|triangular prism|> location at <|3-7|> with height 18 + 4 and open gripper\n\n</think>\n\nStep 1: [\"<|20-7|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|20-7|>\", 17, 0, 60, 90, 1]\nStep 3: [\"<|20-7|>\", 17, 0, 60, 90, 0]\nStep 4: [\"<|20-7|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|3-7|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|3-7|>\", 22, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 50, 29, 30, 0, 60, 90, 1 ], [ 50, 29, 17, 0, 60, 90, 1 ], [ 50, 29, 17, 0, 60, 90, 0 ], [ 50, 29, 30, 0, 60, 90, 0 ], [ 62, 75, 30, 0, 60, 90, 0 ], [ 62, 75, 22, 0, 60, 90, 1 ] ]

[ { "content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\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: {\"<|olive|><|moon|>\": 17, \"<|yellow|><|moon|>\": 17, \"<|lime|><|triangular prism|>\": 18, \"<|lime|><|star|>\": 18, \"<|lime|><|moon|>\": 17}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the lime moon on top of the lime star\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|lime|><|moon|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|olive|><|moon|><|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|><|yellow|><|moon|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|lime|><|star|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|lime|><|triangular prism|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|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|><|moon|> found at <|7-12|> with height 17\nTarget Placement Location: <|lime|><|star|> at <|18-15|> with height 18\nPLAN ACTIONS:\nStep 1: Move above <|lime|><|moon|> at <|7-12|> with height 30\nStep 2: Lower to <|lime|><|moon|> at <|7-12|> with height 17\nStep 3: Close gripper on <|lime|><|moon|> at <|7-12|> with height 17\nStep 4: Lift <|lime|><|moon|> at <|7-12|> to height 30\nStep 5: Move to <|lime|><|star|> location at <|18-15|> with height 30\nStep 6: Stack on top of <|lime|><|star|> location at <|18-15|> with height 18 + 4 and open gripper\n\n</think>\n\nStep 1: [\"<|7-12|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|7-12|>\", 17, 0, 60, 90, 1]\nStep 3: [\"<|7-12|>\", 17, 0, 60, 90, 0]\nStep 4: [\"<|7-12|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|18-15|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|18-15|>\", 22, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 70, 87, 30, 0, 60, 90, 1 ], [ 70, 87, 17, 0, 60, 90, 1 ], [ 70, 87, 17, 0, 60, 90, 0 ], [ 70, 87, 30, 0, 60, 90, 0 ], [ 65, 59, 30, 0, 60, 90, 0 ], [ 65, 59, 17, 0, 60, 90, 1 ] ]

[ { "content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\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: {\"<|yellow|><|triangular prism|>\": 17, \"<|navy|><|moon|>\": 17, \"<|blue|><|moon|>\": 18, \"<|teal|><|container|>\": 17, \"<|silver|><|cube|>\": 17, \"<|rose|><|moon|>\": 18}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the silver cube and place it into the teal container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|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|><|navy|><|moon|><|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|><|blue|><|moon|><|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|><|teal|><|container|><|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|><|rose|><|moon|><|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|><|yellow|><|triangular prism|><|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|><|silver|><|cube|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|silver|><|cube|> found at <|21-17|> with height 17\nTarget Placement Location: <|teal|><|container|> at <|14-16|> with height 17\nPLAN ACTIONS:\nStep 1: Move above <|silver|><|cube|> at <|21-17|> with height 30\nStep 2: Lower to <|silver|><|cube|> at <|21-17|> with height 17\nStep 3: Close gripper on <|silver|><|cube|> at <|21-17|> with height 17\nStep 4: Lift <|silver|><|cube|> at <|21-17|> to height 30\nStep 5: Move to <|teal|><|container|> location at <|14-16|> with height 30\nStep 6: Place inside <|teal|><|container|> location at <|14-16|> with height 17 and open gripper\n\n</think>\n\nStep 1: [\"<|21-17|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|21-17|>\", 17, 0, 60, 90, 1]\nStep 3: [\"<|21-17|>\", 17, 0, 60, 90, 0]\nStep 4: [\"<|21-17|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|14-16|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|14-16|>\", 17, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 57, 80, 30, 0, 60, 90, 1 ], [ 57, 80, 18, 0, 60, 90, 1 ], [ 57, 80, 18, 0, 60, 90, 0 ], [ 57, 80, 30, 0, 60, 90, 0 ], [ 61, 27, 30, 0, 60, 90, 0 ], [ 61, 27, 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: {\"<|gray|><|triangular prism|>\": 18, \"<|teal|><|moon|>\": 18, \"<|navy|><|moon|>\": 17, \"<|black|><|triangular prism|>\": 18, \"<|teal|><|triangular prism|>\": 17, \"<|teal|><|container|>\": 17, \"<|violet|><|moon|>\": 17}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the gray triangular prism and place it into the teal container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|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|><|teal|><|container|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|teal|><|triangular prism|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|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|><|violet|><|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|><|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|><|navy|><|moon|><|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|><|teal|><|moon|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|gray|><|triangular prism|><|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|><|black|><|triangular prism|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|gray|><|triangular prism|> found at <|20-14|> with height 18\nTarget Placement Location: <|teal|><|container|> at <|6-15|> with height 17\nPLAN ACTIONS:\nStep 1: Move above <|gray|><|triangular prism|> at <|20-14|> with height 30\nStep 2: Lower to <|gray|><|triangular prism|> at <|20-14|> with height 18\nStep 3: Close gripper on <|gray|><|triangular prism|> at <|20-14|> with height 18\nStep 4: Lift <|gray|><|triangular prism|> at <|20-14|> to height 30\nStep 5: Move to <|teal|><|container|> location at <|6-15|> with height 30\nStep 6: Place inside <|teal|><|container|> location at <|6-15|> with height 17 and open gripper\n\n</think>\n\nStep 1: [\"<|20-14|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|20-14|>\", 18, 0, 60, 90, 1]\nStep 3: [\"<|20-14|>\", 18, 0, 60, 90, 0]\nStep 4: [\"<|20-14|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|6-15|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|6-15|>\", 17, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 25, 78, 30, 0, 60, 90, 1 ], [ 25, 78, 17, 0, 60, 90, 1 ], [ 25, 78, 17, 0, 60, 90, 0 ], [ 25, 78, 30, 0, 60, 90, 0 ], [ 13, 63, 30, 0, 60, 90, 0 ], [ 13, 63, 19, 0, 60, 90, 1 ] ]

[ { "content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 25x25 discrete grid for visualization\n- Each position is denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space.\n- The height of each object: {\"<|violet|><|cylinder|>\": 17, \"<|white|><|triangular prism|>\": 17, \"<|cyan|><|cube|>\": 17, \"<|cyan|><|star|>\": 18, \"<|red|><|container|>\": 19, \"<|black|><|star|>\": 18}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the white triangular prism and place it into the red container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|black|><|star|><|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|><|violet|><|cylinder|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|red|><|container|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|cyan|><|cube|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|white|><|triangular prism|><|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|><|cyan|><|star|><|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|><|triangular prism|> found at <|19-6|> with height 17\nTarget Placement Location: <|red|><|container|> at <|15-3|> with height 19\nPLAN ACTIONS:\nStep 1: Move above <|white|><|triangular prism|> at <|19-6|> with height 30\nStep 2: Lower to <|white|><|triangular prism|> at <|19-6|> with height 17\nStep 3: Close gripper on <|white|><|triangular prism|> at <|19-6|> with height 17\nStep 4: Lift <|white|><|triangular prism|> at <|19-6|> to height 30\nStep 5: Move to <|red|><|container|> location at <|15-3|> with height 30\nStep 6: Place inside <|red|><|container|> location at <|15-3|> with height 19 and open gripper\n\n</think>\n\nStep 1: [\"<|19-6|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|19-6|>\", 17, 0, 60, 90, 1]\nStep 3: [\"<|19-6|>\", 17, 0, 60, 90, 0]\nStep 4: [\"<|19-6|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|15-3|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|15-3|>\", 19, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 71, 35, 30, 0, 60, 90, 1 ], [ 71, 35, 17, 0, 60, 90, 1 ], [ 71, 35, 17, 0, 60, 90, 0 ], [ 71, 35, 30, 0, 60, 90, 0 ], [ 80, 65, 30, 0, 60, 90, 0 ], [ 80, 65, 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: {\"<|yellow|><|moon|>\": 17, \"<|teal|><|moon|>\": 17, \"<|violet|><|triangular prism|>\": 17, \"<|violet|><|star|>\": 17, \"<|purple|><|cylinder|>\": 17}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the teal moon on top of the violet triangular prism\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|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|><|teal|><|moon|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|purple|><|cylinder|><|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|><|violet|><|star|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|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|><|violet|><|triangular prism|><|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|><|yellow|><|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|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|teal|><|moon|> found at <|8-17|> with height 17\nTarget Placement Location: <|violet|><|triangular prism|> at <|16-20|> with height 17\nPLAN ACTIONS:\nStep 1: Move above <|teal|><|moon|> at <|8-17|> with height 30\nStep 2: Lower to <|teal|><|moon|> at <|8-17|> with height 17\nStep 3: Close gripper on <|teal|><|moon|> at <|8-17|> with height 17\nStep 4: Lift <|teal|><|moon|> at <|8-17|> to height 30\nStep 5: Move to <|violet|><|triangular prism|> location at <|16-20|> with height 30\nStep 6: Stack on top of <|violet|><|triangular prism|> location at <|16-20|> with height 17 + 4 and open gripper\n\n</think>\n\nStep 1: [\"<|8-17|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|8-17|>\", 17, 0, 60, 90, 1]\nStep 3: [\"<|8-17|>\", 17, 0, 60, 90, 0]\nStep 4: [\"<|8-17|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|16-20|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|16-20|>\", 21, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 88, 75, 30, 0, 60, 90, 1 ], [ 88, 75, 17, 0, 60, 90, 1 ], [ 88, 75, 17, 0, 60, 90, 0 ], [ 88, 75, 30, 0, 60, 90, 0 ], [ 87, 12, 30, 0, 60, 90, 0 ], [ 87, 12, 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: {\"<|black|><|cube|>\": 17, \"<|violet|><|star|>\": 17, \"<|gray|><|cube|>\": 17, \"<|cyan|><|cylinder|>\": 18, \"<|navy|><|cylinder|>\": 17, \"<|lime|><|triangular prism|>\": 17, \"<|lime|><|container|>\": 18}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the black cube and place it into the lime container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|lime|><|container|><|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|><|gray|><|cube|><|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|><|lime|><|triangular prism|><|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|><|violet|><|star|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|cyan|><|cylinder|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|black|><|cube|><|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|><|navy|><|cylinder|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|black|><|cube|> found at <|18-22|> with height 17\nTarget Placement Location: <|lime|><|container|> at <|3-21|> with height 18\nPLAN ACTIONS:\nStep 1: Move above <|black|><|cube|> at <|18-22|> with height 30\nStep 2: Lower to <|black|><|cube|> at <|18-22|> with height 17\nStep 3: Close gripper on <|black|><|cube|> at <|18-22|> with height 17\nStep 4: Lift <|black|><|cube|> at <|18-22|> to height 30\nStep 5: Move to <|lime|><|container|> location at <|3-21|> with height 30\nStep 6: Place inside <|lime|><|container|> location at <|3-21|> with height 18 and open gripper\n\n</think>\n\nStep 1: [\"<|18-22|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|18-22|>\", 17, 0, 60, 90, 1]\nStep 3: [\"<|18-22|>\", 17, 0, 60, 90, 0]\nStep 4: [\"<|18-22|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|3-21|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|3-21|>\", 18, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 26, 47, 30, 0, 60, 90, 1 ], [ 26, 47, 17, 0, 60, 90, 1 ], [ 26, 47, 17, 0, 60, 90, 0 ], [ 26, 47, 30, 0, 60, 90, 0 ], [ 45, 30, 30, 0, 60, 90, 0 ], [ 45, 30, 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|><|triangular prism|>\": 18, \"<|gray|><|triangular prism|>\": 18, \"<|lime|><|triangular prism|>\": 18, \"<|navy|><|container|>\": 18, \"<|olive|><|star|>\": 18, \"<|red|><|triangular prism|>\": 18, \"<|maroon|><|moon|>\": 17}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the maroon moon and place it into the navy container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|lime|><|triangular prism|><|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|><|navy|><|container|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|maroon|><|triangular prism|><|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|><|red|><|triangular prism|><|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|><|maroon|><|moon|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|gray|><|triangular prism|><|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|><|olive|><|star|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|maroon|><|moon|> found at <|11-6|> with height 17\nTarget Placement Location: <|navy|><|container|> at <|7-11|> with height 18\nPLAN ACTIONS:\nStep 1: Move above <|maroon|><|moon|> at <|11-6|> with height 30\nStep 2: Lower to <|maroon|><|moon|> at <|11-6|> with height 17\nStep 3: Close gripper on <|maroon|><|moon|> at <|11-6|> with height 17\nStep 4: Lift <|maroon|><|moon|> at <|11-6|> to height 30\nStep 5: Move to <|navy|><|container|> location at <|7-11|> with height 30\nStep 6: Place inside <|navy|><|container|> location at <|7-11|> with height 18 and open gripper\n\n</think>\n\nStep 1: [\"<|11-6|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|11-6|>\", 17, 0, 60, 90, 1]\nStep 3: [\"<|11-6|>\", 17, 0, 60, 90, 0]\nStep 4: [\"<|11-6|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|7-11|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|7-11|>\", 18, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 44, 51, 30, 0, 60, 90, 1 ], [ 44, 51, 18, 0, 60, 90, 1 ], [ 44, 51, 18, 0, 60, 90, 0 ], [ 44, 51, 30, 0, 60, 90, 0 ], [ 79, 47, 30, 0, 60, 90, 0 ], [ 79, 47, 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|><|triangular prism|>\": 18, \"<|rose|><|triangular prism|>\": 17, \"<|white|><|cylinder|>\": 18, \"<|gray|><|triangular prism|>\": 18, \"<|silver|><|cube|>\": 19, \"<|purple|><|star|>\": 17, \"<|azure|><|cube|>\": 18}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the gray triangular prism on top of the silver cube\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|azure|><|cube|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|silver|><|cube|><|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|><|gray|><|triangular prism|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|azure|><|triangular prism|><|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|><|purple|><|star|><|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|><|rose|><|triangular prism|><|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|><|white|><|cylinder|><|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|><|triangular prism|> found at <|12-11|> with height 18\nTarget Placement Location: <|silver|><|cube|> at <|11-19|> with height 19\nPLAN ACTIONS:\nStep 1: Move above <|gray|><|triangular prism|> at <|12-11|> with height 30\nStep 2: Lower to <|gray|><|triangular prism|> at <|12-11|> with height 18\nStep 3: Close gripper on <|gray|><|triangular prism|> at <|12-11|> with height 18\nStep 4: Lift <|gray|><|triangular prism|> at <|12-11|> to height 30\nStep 5: Move to <|silver|><|cube|> location at <|11-19|> with height 30\nStep 6: Stack on top of <|silver|><|cube|> location at <|11-19|> with height 19 + 4 and open gripper\n\n</think>\n\nStep 1: [\"<|12-11|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|12-11|>\", 18, 0, 60, 90, 1]\nStep 3: [\"<|12-11|>\", 18, 0, 60, 90, 0]\nStep 4: [\"<|12-11|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|11-19|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|11-19|>\", 23, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 86, 25, 30, 0, 60, 90, 1 ], [ 86, 25, 17, 0, 60, 90, 1 ], [ 86, 25, 17, 0, 60, 90, 0 ], [ 86, 25, 30, 0, 60, 90, 0 ], [ 65, 12, 30, 0, 60, 90, 0 ], [ 65, 12, 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: {\"<|navy|><|star|>\": 17, \"<|black|><|triangular prism|>\": 17, \"<|blue|><|cube|>\": 17, \"<|blue|><|cylinder|>\": 18, \"<|silver|><|triangular prism|>\": 17, \"<|lime|><|triangular prism|>\": 17, \"<|black|><|cylinder|>\": 19}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the navy star on top of the black 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|><|black|><|cylinder|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|blue|><|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|><|lime|><|triangular prism|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|navy|><|star|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|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|><|black|><|triangular prism|><|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|><|silver|><|triangular prism|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|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|><|blue|><|cube|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|navy|><|star|> found at <|6-21|> with height 17\nTarget Placement Location: <|black|><|cylinder|> at <|3-16|> with height 19\nPLAN ACTIONS:\nStep 1: Move above <|navy|><|star|> at <|6-21|> with height 30\nStep 2: Lower to <|navy|><|star|> at <|6-21|> with height 17\nStep 3: Close gripper on <|navy|><|star|> at <|6-21|> with height 17\nStep 4: Lift <|navy|><|star|> at <|6-21|> to height 30\nStep 5: Move to <|black|><|cylinder|> location at <|3-16|> with height 30\nStep 6: Stack on top of <|black|><|cylinder|> location at <|3-16|> with height 19 + 4 and open gripper\n\n</think>\n\nStep 1: [\"<|6-21|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|6-21|>\", 17, 0, 60, 90, 1]\nStep 3: [\"<|6-21|>\", 17, 0, 60, 90, 0]\nStep 4: [\"<|6-21|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|3-16|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|3-16|>\", 23, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 68, 66, 30, 0, 60, 90, 1 ], [ 68, 66, 18, 0, 60, 90, 1 ], [ 68, 66, 18, 0, 60, 90, 0 ], [ 68, 66, 30, 0, 60, 90, 0 ], [ 75, 40, 30, 0, 60, 90, 0 ], [ 75, 40, 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: {\"<|blue|><|cube|>\": 17, \"<|rose|><|container|>\": 19, \"<|silver|><|star|>\": 17, \"<|rose|><|star|>\": 18, \"<|rose|><|cylinder|>\": 18}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the rose star and place it into the rose container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|rose|><|container|><|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|><|blue|><|cube|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|silver|><|star|><|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|><|rose|><|star|><|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|><|rose|><|cylinder|><|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|><|star|> found at <|16-17|> with height 18\nTarget Placement Location: <|rose|><|container|> at <|10-18|> with height 19\nPLAN ACTIONS:\nStep 1: Move above <|rose|><|star|> at <|16-17|> with height 30\nStep 2: Lower to <|rose|><|star|> at <|16-17|> with height 18\nStep 3: Close gripper on <|rose|><|star|> at <|16-17|> with height 18\nStep 4: Lift <|rose|><|star|> at <|16-17|> to height 30\nStep 5: Move to <|rose|><|container|> location at <|10-18|> with height 30\nStep 6: Place inside <|rose|><|container|> location at <|10-18|> with height 19 and open gripper\n\n</think>\n\nStep 1: [\"<|16-17|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|16-17|>\", 18, 0, 60, 90, 1]\nStep 3: [\"<|16-17|>\", 18, 0, 60, 90, 0]\nStep 4: [\"<|16-17|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|10-18|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|10-18|>\", 19, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 89, 50, 30, 0, 60, 90, 1 ], [ 89, 50, 18, 0, 60, 90, 1 ], [ 89, 50, 18, 0, 60, 90, 0 ], [ 89, 50, 30, 0, 60, 90, 0 ], [ 40, 59, 30, 0, 60, 90, 0 ], [ 40, 59, 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|>\": 18, \"<|red|><|cube|>\": 18, \"<|teal|><|cube|>\": 18, \"<|gray|><|cube|>\": 17, \"<|gray|><|star|>\": 17, \"<|blue|><|moon|>\": 17, \"<|olive|><|moon|>\": 18}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 6D discrete gripper action in the following format: [\"<row-col>\", Z, Roll, Pitch, Yaw,\nGripper] with <row-col> is the discrete positions of gripper on the table and Z is the height that gripper must reach.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the purple triangular prism on top of the gray star\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|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|><|red|><|cube|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|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|><|gray|><|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|><|teal|><|cube|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|purple|><|triangular prism|><|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|><|gray|><|star|><|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|><|olive|><|moon|><|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|><|blue|><|moon|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|purple|><|triangular prism|> found at <|12-22|> with height 18\nTarget Placement Location: <|gray|><|star|> at <|14-10|> with height 17\nPLAN ACTIONS:\nStep 1: Move above <|purple|><|triangular prism|> at <|12-22|> with height 30\nStep 2: Lower to <|purple|><|triangular prism|> at <|12-22|> with height 18\nStep 3: Close gripper on <|purple|><|triangular prism|> at <|12-22|> with height 18\nStep 4: Lift <|purple|><|triangular prism|> at <|12-22|> to height 30\nStep 5: Move to <|gray|><|star|> location at <|14-10|> with height 30\nStep 6: Stack on top of <|gray|><|star|> location at <|14-10|> with height 17 + 4 and open gripper\n\n</think>\n\nStep 1: [\"<|12-22|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|12-22|>\", 18, 0, 60, 90, 1]\nStep 3: [\"<|12-22|>\", 18, 0, 60, 90, 0]\nStep 4: [\"<|12-22|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|14-10|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|14-10|>\", 21, 0, 60, 90, 1]", "role": "assistant" } ]