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Pick-Place-Table-Reasoning-local-pos-v0.2

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Menlo Research 127

[ [ 17, 65, 29, 0, 60, 90, 1 ], [ 17, 65, 0, 0, 60, 90, 1 ], [ 17, 65, 0, 0, 60, 90, 0 ], [ 17, 65, 29, 0, 60, 90, 0 ], [ 44, 20, 29, 0, 60, 90, 0 ], [ 44, 20, 29, 0, 60, 90, 0 ], [ 44, 20, 29, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|navy|><|container|>\": 18, \"<|green|><|triangular prism|>\": 29, \"<|black|><|container|>\": 29, \"<|black|><|moon|>\": 20, \"<|green|><|cylinder|>\": 19}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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 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|><|local-1-1|><|green|><|cylinder|><|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|><|local-3-2|><|black|><|moon|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|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|><|local-3-2|><|green|><|triangular prism|><|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|><|local-0-0|><|black|><|container|><|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|><|local-2-2|><|navy|><|container|><|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 <|4-16|><|local-1-1|> with height 19\nTarget Placement Location: <|black|><|container|> at <|11-5|><|local-0-0|> with height 29\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|11-5|><|local-0-0|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|green|><|cylinder|> into <|black|><|container|>.\n\n</think>\n\nStep 1: [\"<|4-16|>\", \"<|local-1-1|>\", 29, 0, 60, 90, 1]\nStep 2: [\"<|4-16|>\", \"<|local-1-1|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|4-16|>\", \"<|local-1-1|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|4-16|>\", \"<|local-1-1|>\", 29, 0, 60, 90, 0]\nStep 5: [\"<|11-5|>\", \"<|local-0-0|>\", 29, 0, 60, 90, 0]\nStep 6: [\"<|11-5|>\", \"<|local-0-0|>\", 29, 0, 60, 90, 0]\nStep 7: [\"<|11-5|>\", \"<|local-0-0|>\", 29, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 20, 76, 29, 0, 60, 90, 1 ], [ 20, 76, 0, 0, 60, 90, 1 ], [ 20, 76, 0, 0, 60, 90, 0 ], [ 20, 76, 29, 0, 60, 90, 0 ], [ 83, 6, 29, 0, 60, 90, 0 ], [ 83, 6, 18, 0, 60, 90, 0 ], [ 83, 6, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|magenta|><|star|>\": 10, \"<|yellow|><|cylinder|>\": 21, \"<|navy|><|star|>\": 14, \"<|magenta|><|triangular prism|>\": 18, \"<|white|><|triangular prism|>\": 19}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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: Move the white triangular prism to [83, 6, 18]\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|><|local-2-2|><|navy|><|star|><|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|><|local-2-0|><|yellow|><|cylinder|><|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|><|local-0-0|><|white|><|triangular prism|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|local-2-0|><|magenta|><|star|><|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|><|local-3-2|><|magenta|><|triangular prism|><|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 <|5-19|><|local-0-0|> with height 19\nTarget Placement Location: [83, 6] with height 18. Map [83, 6] (100x100) to a 25x25 grid, then a 4x4 subgrid. Result: <|20-1|><|local-3-2|>.\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|20-1|><|local-3-2|> at the same height as stage 4.\nStep 6: Move on top of target location at target_pos: <|20-1|><|local-3-2|> with height target_height.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|5-19|>\", \"<|local-0-0|>\", 29, 0, 60, 90, 1]\nStep 2: [\"<|5-19|>\", \"<|local-0-0|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|5-19|>\", \"<|local-0-0|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|5-19|>\", \"<|local-0-0|>\", 29, 0, 60, 90, 0]\nStep 5: [\"<|20-1|>\", \"<|local-3-2|>\", 29, 0, 60, 90, 0]\nStep 6: [\"<|20-1|>\", \"<|local-3-2|>\", 18, 0, 60, 90, 0]\nStep 7: [\"<|20-1|>\", \"<|local-3-2|>\", 18, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 79, 98, 16, 0, 60, 90, 1 ], [ 79, 98, 0, 0, 60, 90, 1 ], [ 79, 98, 0, 0, 60, 90, 0 ], [ 79, 98, 16, 0, 60, 90, 0 ], [ 64, 7, 16, 0, 60, 90, 0 ], [ 64, 7, 11, 0, 60, 90, 0 ], [ 64, 7, 11, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|red|><|container|>\": 11, \"<|gray|><|container|>\": 10, \"<|maroon|><|triangular prism|>\": 8, \"<|lime|><|moon|>\": 24, \"<|green|><|cube|>\": 6}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the green cube and place it into the red container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|local-0-2|><|gray|><|container|><|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|><|local-3-2|><|maroon|><|triangular prism|><|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|><|local-3-0|><|lime|><|moon|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|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|><|local-0-3|><|red|><|container|><|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|><|local-3-2|><|green|><|cube|>\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|><|cube|> found at <|19-24|><|local-3-2|> with height 6\nTarget Placement Location: <|red|><|container|> at <|16-1|><|local-0-3|> with height 11\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|16-1|><|local-0-3|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|green|><|cube|> into <|red|><|container|>.\n\n</think>\n\nStep 1: [\"<|19-24|>\", \"<|local-3-2|>\", 16, 0, 60, 90, 1]\nStep 2: [\"<|19-24|>\", \"<|local-3-2|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|19-24|>\", \"<|local-3-2|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|19-24|>\", \"<|local-3-2|>\", 16, 0, 60, 90, 0]\nStep 5: [\"<|16-1|>\", \"<|local-0-3|>\", 16, 0, 60, 90, 0]\nStep 6: [\"<|16-1|>\", \"<|local-0-3|>\", 11, 0, 60, 90, 0]\nStep 7: [\"<|16-1|>\", \"<|local-0-3|>\", 11, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 97, 77, 32, 0, 60, 90, 1 ], [ 97, 77, 0, 0, 60, 90, 1 ], [ 97, 77, 0, 0, 60, 90, 0 ], [ 97, 77, 32, 0, 60, 90, 0 ], [ 47, 64, 32, 0, 60, 90, 0 ], [ 47, 64, 3, 0, 60, 90, 0 ], [ 47, 64, 3, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|green|><|star|>\": 14, \"<|silver|><|cube|>\": 3, \"<|cyan|><|cylinder|>\": 25, \"<|rose|><|cube|>\": 6, \"<|black|><|star|>\": 2, \"<|rose|><|moon|>\": 6, \"<|azure|><|triangular prism|>\": 22}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the azure triangular prism on top of the black star\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|local-1-0|><|silver|><|cube|>\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|><|local-2-1|><|rose|><|cube|><|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|><|local-3-0|><|black|><|star|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|local-3-1|><|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|><|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|><|local-2-3|><|cyan|><|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|><|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|><|local-3-0|><|rose|><|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|><|local-1-1|><|azure|><|triangular prism|><|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|><|triangular prism|> found at <|24-19|><|local-1-1|> with height 22\nTarget Placement Location: <|black|><|star|> at <|11-16|><|local-3-0|> with height 2\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|11-16|><|local-3-0|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|24-19|>\", \"<|local-1-1|>\", 32, 0, 60, 90, 1]\nStep 2: [\"<|24-19|>\", \"<|local-1-1|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|24-19|>\", \"<|local-1-1|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|24-19|>\", \"<|local-1-1|>\", 32, 0, 60, 90, 0]\nStep 5: [\"<|11-16|>\", \"<|local-3-0|>\", 32, 0, 60, 90, 0]\nStep 6: [\"<|11-16|>\", \"<|local-3-0|>\", 3, 0, 60, 90, 0]\nStep 7: [\"<|11-16|>\", \"<|local-3-0|>\", 3, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 26, 93, 15, 0, 60, 90, 1 ], [ 26, 93, 0, 0, 60, 90, 1 ], [ 26, 93, 0, 0, 60, 90, 0 ], [ 26, 93, 15, 0, 60, 90, 0 ], [ 40, 85, 15, 0, 60, 90, 0 ], [ 40, 85, 19, 0, 60, 90, 0 ], [ 40, 85, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|magenta|><|container|>\": 23, \"<|lime|><|moon|>\": 26, \"<|green|><|container|>\": 30, \"<|teal|><|container|>\": 19, \"<|yellow|><|cube|>\": 4}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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 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|><|local-2-1|><|yellow|><|cube|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|local-0-3|><|magenta|><|container|><|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|><|local-2-1|><|lime|><|moon|><|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|><|local-0-1|><|teal|><|container|><|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|><|local-1-2|><|green|><|container|><|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: <|yellow|><|cube|> found at <|6-23|><|local-2-1|> with height 4\nTarget Placement Location: <|teal|><|container|> at <|10-21|><|local-0-1|> with height 19\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|10-21|><|local-0-1|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|yellow|><|cube|> into <|teal|><|container|>.\n\n</think>\n\nStep 1: [\"<|6-23|>\", \"<|local-2-1|>\", 15, 0, 60, 90, 1]\nStep 2: [\"<|6-23|>\", \"<|local-2-1|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|6-23|>\", \"<|local-2-1|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|6-23|>\", \"<|local-2-1|>\", 15, 0, 60, 90, 0]\nStep 5: [\"<|10-21|>\", \"<|local-0-1|>\", 15, 0, 60, 90, 0]\nStep 6: [\"<|10-21|>\", \"<|local-0-1|>\", 19, 0, 60, 90, 0]\nStep 7: [\"<|10-21|>\", \"<|local-0-1|>\", 19, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 58, 89, 33, 0, 60, 90, 1 ], [ 58, 89, 0, 0, 60, 90, 1 ], [ 58, 89, 0, 0, 60, 90, 0 ], [ 58, 89, 33, 0, 60, 90, 0 ], [ 60, 40, 33, 0, 60, 90, 0 ], [ 60, 40, 28, 0, 60, 90, 0 ], [ 60, 40, 28, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|olive|><|star|>\": 23, \"<|maroon|><|cylinder|>\": 11, \"<|lime|><|moon|>\": 13, \"<|teal|><|cube|>\": 27}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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 cube and the star in sequence.\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|local-2-1|><|olive|><|star|><|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|><|local-0-0|><|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|><|local-1-3|><|lime|><|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|><|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|><|local-3-1|><|maroon|><|cylinder|>\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 <|14-22|><|local-2-1|> with height 23\nTarget Placement Location: <|teal|><|cube|> at <|15-10|><|local-0-0|> with height 27\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|15-10|><|local-0-0|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|14-22|>\", \"<|local-2-1|>\", 33, 0, 60, 90, 1]\nStep 2: [\"<|14-22|>\", \"<|local-2-1|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|14-22|>\", \"<|local-2-1|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|14-22|>\", \"<|local-2-1|>\", 33, 0, 60, 90, 0]\nStep 5: [\"<|15-10|>\", \"<|local-0-0|>\", 33, 0, 60, 90, 0]\nStep 6: [\"<|15-10|>\", \"<|local-0-0|>\", 28, 0, 60, 90, 0]\nStep 7: [\"<|15-10|>\", \"<|local-0-0|>\", 28, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 9, 67, 18, 0, 60, 90, 1 ], [ 9, 67, 0, 0, 60, 90, 1 ], [ 9, 67, 0, 0, 60, 90, 0 ], [ 9, 67, 18, 0, 60, 90, 0 ], [ 79, 16, 18, 0, 60, 90, 0 ], [ 79, 16, 9, 0, 60, 90, 0 ], [ 79, 16, 9, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|violet|><|moon|>\": 8, \"<|yellow|><|cube|>\": 28, \"<|yellow|><|star|>\": 12, \"<|red|><|cylinder|>\": 9, \"<|gray|><|triangular prism|>\": 6}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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: Move the violet moon to [79, 16, 9]\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|><|local-1-3|><|violet|><|moon|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|local-3-3|><|gray|><|triangular prism|><|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|><|local-3-2|><|yellow|><|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|><|local-3-0|><|red|><|cylinder|><|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|><|local-2-2|><|yellow|><|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|><|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|><|moon|> found at <|2-16|><|local-1-3|> with height 8\nTarget Placement Location: [79, 16] with height 9. Map [79, 16] (100x100) to a 25x25 grid, then a 4x4 subgrid. Result: <|19-4|><|local-3-0|>.\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|19-4|><|local-3-0|> at the same height as stage 4.\nStep 6: Move on top of target location at target_pos: <|19-4|><|local-3-0|> with height target_height.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|2-16|>\", \"<|local-1-3|>\", 18, 0, 60, 90, 1]\nStep 2: [\"<|2-16|>\", \"<|local-1-3|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|2-16|>\", \"<|local-1-3|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|2-16|>\", \"<|local-1-3|>\", 18, 0, 60, 90, 0]\nStep 5: [\"<|19-4|>\", \"<|local-3-0|>\", 18, 0, 60, 90, 0]\nStep 6: [\"<|19-4|>\", \"<|local-3-0|>\", 9, 0, 60, 90, 0]\nStep 7: [\"<|19-4|>\", \"<|local-3-0|>\", 9, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 9, 70, 12, 0, 60, 90, 1 ], [ 9, 70, 0, 0, 60, 90, 1 ], [ 9, 70, 0, 0, 60, 90, 0 ], [ 9, 70, 12, 0, 60, 90, 0 ], [ 87, 30, 15, 0, 60, 90, 0 ], [ 87, 30, 27, 0, 60, 90, 0 ], [ 87, 30, 27, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|purple|><|triangular prism|>\": 6, \"<|silver|><|cylinder|>\": 11, \"<|teal|><|triangular prism|>\": 25, \"<|silver|><|cube|>\": 24, \"<|blue|><|star|>\": 27, \"<|black|><|cube|>\": 1}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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: Move the black cube to [87, 30, 27]\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|><|local-0-0|><|teal|><|triangular prism|><|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|><|local-3-3|><|silver|><|cube|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|local-1-2|><|black|><|cube|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|local-1-0|><|silver|><|cylinder|><|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|><|local-0-1|><|purple|><|triangular prism|><|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|><|local-3-2|><|blue|><|star|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\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 <|2-17|><|local-1-2|> with height 1\nTarget Placement Location: [87, 30] with height 27. Map [87, 30] (100x100) to a 25x25 grid, then a 4x4 subgrid. Result: <|21-7|><|local-3-2|>.\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|21-7|><|local-3-2|> at the same height as stage 4.\nStep 6: Move on top of target location at target_pos: <|21-7|><|local-3-2|> with height target_height.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|2-17|>\", \"<|local-1-2|>\", 12, 0, 60, 90, 1]\nStep 2: [\"<|2-17|>\", \"<|local-1-2|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|2-17|>\", \"<|local-1-2|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|2-17|>\", \"<|local-1-2|>\", 12, 0, 60, 90, 0]\nStep 5: [\"<|21-7|>\", \"<|local-3-2|>\", 15, 0, 60, 90, 0]\nStep 6: [\"<|21-7|>\", \"<|local-3-2|>\", 27, 0, 60, 90, 0]\nStep 7: [\"<|21-7|>\", \"<|local-3-2|>\", 27, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 87, 15, 22, 0, 60, 90, 1 ], [ 87, 15, 0, 0, 60, 90, 1 ], [ 87, 15, 0, 0, 60, 90, 0 ], [ 87, 15, 22, 0, 60, 90, 0 ], [ 26, 23, 22, 0, 60, 90, 0 ], [ 26, 23, 20, 0, 60, 90, 0 ], [ 26, 23, 20, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|olive|><|cylinder|>\": 9, \"<|gray|><|cube|>\": 27, \"<|white|><|moon|>\": 11, \"<|lime|><|triangular prism|>\": 12, \"<|yellow|><|cube|>\": 15, \"<|rose|><|star|>\": 19}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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 star and the lime triangular prism in sequence.\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|><|local-0-3|><|gray|><|cube|><|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|><|local-3-0|><|white|><|moon|><|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|><|local-2-3|><|rose|><|star|><|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|><|local-3-1|><|yellow|><|cube|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|local-3-3|><|lime|><|triangular prism|><|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|><|local-0-1|><|olive|><|cylinder|><|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 <|21-3|><|local-3-3|> with height 12\nTarget Placement Location: <|rose|><|star|> at <|6-5|><|local-2-3|> with height 19\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|6-5|><|local-2-3|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|21-3|>\", \"<|local-3-3|>\", 22, 0, 60, 90, 1]\nStep 2: [\"<|21-3|>\", \"<|local-3-3|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|21-3|>\", \"<|local-3-3|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|21-3|>\", \"<|local-3-3|>\", 22, 0, 60, 90, 0]\nStep 5: [\"<|6-5|>\", \"<|local-2-3|>\", 22, 0, 60, 90, 0]\nStep 6: [\"<|6-5|>\", \"<|local-2-3|>\", 20, 0, 60, 90, 0]\nStep 7: [\"<|6-5|>\", \"<|local-2-3|>\", 20, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 28, 92, 38, 0, 60, 90, 1 ], [ 28, 92, 0, 0, 60, 90, 1 ], [ 28, 92, 0, 0, 60, 90, 0 ], [ 28, 92, 38, 0, 60, 90, 0 ], [ 86, 85, 38, 0, 60, 90, 0 ], [ 86, 85, 11, 0, 60, 90, 0 ], [ 86, 85, 11, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|navy|><|cylinder|>\": 3, \"<|blue|><|cube|>\": 18, \"<|navy|><|moon|>\": 14, \"<|green|><|star|>\": 11, \"<|violet|><|triangular prism|>\": 13, \"<|navy|><|star|>\": 28}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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: Move the navy star to [86, 85, 11]\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|><|local-3-1|><|navy|><|cylinder|><|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|><|local-1-1|><|navy|><|moon|><|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|><|local-1-0|><|blue|><|cube|><|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|><|local-0-0|><|navy|><|star|><|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|><|local-3-2|><|violet|><|triangular prism|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|local-2-1|><|green|><|star|><|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 <|7-23|><|local-0-0|> with height 28\nTarget Placement Location: [86, 85] with height 11. Map [86, 85] (100x100) to a 25x25 grid, then a 4x4 subgrid. Result: <|21-21|><|local-2-1|>.\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|21-21|><|local-2-1|> at the same height as stage 4.\nStep 6: Move on top of target location at target_pos: <|21-21|><|local-2-1|> with height target_height.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|7-23|>\", \"<|local-0-0|>\", 38, 0, 60, 90, 1]\nStep 2: [\"<|7-23|>\", \"<|local-0-0|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|7-23|>\", \"<|local-0-0|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|7-23|>\", \"<|local-0-0|>\", 38, 0, 60, 90, 0]\nStep 5: [\"<|21-21|>\", \"<|local-2-1|>\", 38, 0, 60, 90, 0]\nStep 6: [\"<|21-21|>\", \"<|local-2-1|>\", 11, 0, 60, 90, 0]\nStep 7: [\"<|21-21|>\", \"<|local-2-1|>\", 11, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 46, 45, 30, 0, 60, 90, 1 ], [ 46, 45, 0, 0, 60, 90, 1 ], [ 46, 45, 0, 0, 60, 90, 0 ], [ 46, 45, 30, 0, 60, 90, 0 ], [ 95, 55, 30, 0, 60, 90, 0 ], [ 95, 55, 27, 0, 60, 90, 0 ], [ 95, 55, 27, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|black|><|moon|>\": 20, \"<|cyan|><|triangular prism|>\": 11, \"<|yellow|><|cylinder|>\": 17, \"<|gray|><|triangular prism|>\": 19, \"<|red|><|cylinder|>\": 26, \"<|teal|><|triangular prism|>\": 8, \"<|purple|><|cube|>\": 6}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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 moon 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|><|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|><|local-2-3|><|gray|><|triangular prism|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|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|><|local-2-1|><|black|><|moon|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|local-3-1|><|yellow|><|cylinder|><|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|><|local-1-3|><|cyan|><|triangular prism|><|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|><|local-2-1|><|purple|><|cube|><|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|><|local-0-2|><|teal|><|triangular prism|><|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|><|local-3-3|><|red|><|cylinder|><|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|><|moon|> found at <|11-11|><|local-2-1|> with height 20\nTarget Placement Location: <|red|><|cylinder|> at <|23-13|><|local-3-3|> with height 26\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|23-13|><|local-3-3|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|11-11|>\", \"<|local-2-1|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|11-11|>\", \"<|local-2-1|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|11-11|>\", \"<|local-2-1|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|11-11|>\", \"<|local-2-1|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|23-13|>\", \"<|local-3-3|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|23-13|>\", \"<|local-3-3|>\", 27, 0, 60, 90, 0]\nStep 7: [\"<|23-13|>\", \"<|local-3-3|>\", 27, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 61, 83, 35, 0, 60, 90, 1 ], [ 61, 83, 0, 0, 60, 90, 1 ], [ 61, 83, 0, 0, 60, 90, 0 ], [ 61, 83, 35, 0, 60, 90, 0 ], [ 1, 15, 35, 0, 60, 90, 0 ], [ 1, 15, 24, 0, 60, 90, 0 ], [ 1, 15, 24, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|purple|><|star|>\": 3, \"<|yellow|><|triangular prism|>\": 4, \"<|white|><|moon|>\": 8, \"<|maroon|><|moon|>\": 23, \"<|olive|><|cylinder|>\": 25}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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 and the olive cylinder in sequence.\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|local-1-3|><|maroon|><|moon|><|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|><|local-0-1|><|yellow|><|triangular prism|><|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|><|local-1-2|><|white|><|moon|><|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|><|local-1-3|><|olive|><|cylinder|><|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|><|local-1-3|><|purple|><|star|><|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 <|15-20|><|local-1-3|> with height 25\nTarget Placement Location: <|maroon|><|moon|> at <|0-3|><|local-1-3|> with height 23\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|0-3|><|local-1-3|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|15-20|>\", \"<|local-1-3|>\", 35, 0, 60, 90, 1]\nStep 2: [\"<|15-20|>\", \"<|local-1-3|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|15-20|>\", \"<|local-1-3|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|15-20|>\", \"<|local-1-3|>\", 35, 0, 60, 90, 0]\nStep 5: [\"<|0-3|>\", \"<|local-1-3|>\", 35, 0, 60, 90, 0]\nStep 6: [\"<|0-3|>\", \"<|local-1-3|>\", 24, 0, 60, 90, 0]\nStep 7: [\"<|0-3|>\", \"<|local-1-3|>\", 24, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 63, 9, 27, 0, 60, 90, 1 ], [ 63, 9, 0, 0, 60, 90, 1 ], [ 63, 9, 0, 0, 60, 90, 0 ], [ 63, 9, 27, 0, 60, 90, 0 ], [ 45, 91, 27, 0, 60, 90, 0 ], [ 45, 91, 21, 0, 60, 90, 0 ], [ 45, 91, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|lime|><|star|>\": 17, \"<|blue|><|cube|>\": 12, \"<|gray|><|star|>\": 20, \"<|purple|><|cube|>\": 3, \"<|lime|><|moon|>\": 1}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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 star and the lime star in sequence.\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|><|local-0-2|><|blue|><|cube|><|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|><|local-1-3|><|gray|><|star|><|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|><|local-2-2|><|lime|><|moon|><|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|><|local-3-1|><|lime|><|star|><|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|><|local-1-2|><|purple|><|cube|><|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 <|15-2|><|local-3-1|> with height 17\nTarget Placement Location: <|gray|><|star|> at <|11-22|><|local-1-3|> with height 20\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|11-22|><|local-1-3|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|15-2|>\", \"<|local-3-1|>\", 27, 0, 60, 90, 1]\nStep 2: [\"<|15-2|>\", \"<|local-3-1|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|15-2|>\", \"<|local-3-1|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|15-2|>\", \"<|local-3-1|>\", 27, 0, 60, 90, 0]\nStep 5: [\"<|11-22|>\", \"<|local-1-3|>\", 27, 0, 60, 90, 0]\nStep 6: [\"<|11-22|>\", \"<|local-1-3|>\", 21, 0, 60, 90, 0]\nStep 7: [\"<|11-22|>\", \"<|local-1-3|>\", 21, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 68, 34, 17, 0, 60, 90, 1 ], [ 68, 34, 0, 0, 60, 90, 1 ], [ 68, 34, 0, 0, 60, 90, 0 ], [ 68, 34, 17, 0, 60, 90, 0 ], [ 9, 53, 17, 0, 60, 90, 0 ], [ 9, 53, 28, 0, 60, 90, 0 ], [ 9, 53, 28, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|yellow|><|star|>\": 17, \"<|green|><|cube|>\": 26, \"<|azure|><|star|>\": 27, \"<|violet|><|moon|>\": 7, \"<|magenta|><|star|>\": 12, \"<|green|><|triangular prism|>\": 15, \"<|black|><|moon|>\": 3}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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 star and the violet moon in sequence.\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|><|local-1-1|><|azure|><|star|><|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|><|local-2-3|><|yellow|><|star|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|local-3-2|><|green|><|triangular prism|><|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|><|local-1-0|><|black|><|moon|><|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|><|local-0-2|><|violet|><|moon|><|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|><|local-3-2|><|magenta|><|star|>\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|><|local-2-2|><|green|><|cube|><|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: <|violet|><|moon|> found at <|17-8|><|local-0-2|> with height 7\nTarget Placement Location: <|azure|><|star|> at <|2-13|><|local-1-1|> with height 27\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|2-13|><|local-1-1|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|17-8|>\", \"<|local-0-2|>\", 17, 0, 60, 90, 1]\nStep 2: [\"<|17-8|>\", \"<|local-0-2|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|17-8|>\", \"<|local-0-2|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|17-8|>\", \"<|local-0-2|>\", 17, 0, 60, 90, 0]\nStep 5: [\"<|2-13|>\", \"<|local-1-1|>\", 17, 0, 60, 90, 0]\nStep 6: [\"<|2-13|>\", \"<|local-1-1|>\", 28, 0, 60, 90, 0]\nStep 7: [\"<|2-13|>\", \"<|local-1-1|>\", 28, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 86, 18, 15, 0, 60, 90, 1 ], [ 86, 18, 0, 0, 60, 90, 1 ], [ 86, 18, 0, 0, 60, 90, 0 ], [ 86, 18, 15, 0, 60, 90, 0 ], [ 72, 17, 15, 0, 60, 90, 0 ], [ 72, 17, 20, 0, 60, 90, 0 ], [ 72, 17, 20, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|white|><|container|>\": 2, \"<|magenta|><|cylinder|>\": 4, \"<|blue|><|container|>\": 20, \"<|violet|><|container|>\": 19, \"<|black|><|star|>\": 26}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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 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|><|local-1-3|><|white|><|container|><|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|><|local-2-3|><|violet|><|container|><|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|><|local-1-3|><|black|><|star|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|local-0-1|><|blue|><|container|><|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|><|local-2-2|><|magenta|><|cylinder|><|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|><|cylinder|> found at <|21-4|><|local-2-2|> with height 4\nTarget Placement Location: <|blue|><|container|> at <|18-4|><|local-0-1|> with height 20\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|18-4|><|local-0-1|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|magenta|><|cylinder|> into <|blue|><|container|>.\n\n</think>\n\nStep 1: [\"<|21-4|>\", \"<|local-2-2|>\", 15, 0, 60, 90, 1]\nStep 2: [\"<|21-4|>\", \"<|local-2-2|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|21-4|>\", \"<|local-2-2|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|21-4|>\", \"<|local-2-2|>\", 15, 0, 60, 90, 0]\nStep 5: [\"<|18-4|>\", \"<|local-0-1|>\", 15, 0, 60, 90, 0]\nStep 6: [\"<|18-4|>\", \"<|local-0-1|>\", 20, 0, 60, 90, 0]\nStep 7: [\"<|18-4|>\", \"<|local-0-1|>\", 20, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 69, 7, 33, 0, 60, 90, 1 ], [ 69, 7, 0, 0, 60, 90, 1 ], [ 69, 7, 0, 0, 60, 90, 0 ], [ 69, 7, 33, 0, 60, 90, 0 ], [ 89, 45, 33, 0, 60, 90, 0 ], [ 89, 45, 1, 0, 60, 90, 0 ], [ 89, 45, 1, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|white|><|container|>\": 9, \"<|cyan|><|star|>\": 23, \"<|white|><|cube|>\": 4, \"<|magenta|><|container|>\": 1, \"<|cyan|><|moon|>\": 18, \"<|green|><|triangular prism|>\": 11}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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 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|><|local-2-0|><|white|><|cube|><|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|><|local-0-1|><|cyan|><|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|><|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|><|local-2-3|><|green|><|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|><|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|><|local-1-3|><|cyan|><|star|><|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|><|local-1-1|><|magenta|><|container|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|local-2-3|><|white|><|container|><|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 <|17-1|><|local-1-3|> with height 23\nTarget Placement Location: <|magenta|><|container|> at <|22-11|><|local-1-1|> with height 1\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|22-11|><|local-1-1|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|cyan|><|star|> into <|magenta|><|container|>.\n\n</think>\n\nStep 1: [\"<|17-1|>\", \"<|local-1-3|>\", 33, 0, 60, 90, 1]\nStep 2: [\"<|17-1|>\", \"<|local-1-3|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|17-1|>\", \"<|local-1-3|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|17-1|>\", \"<|local-1-3|>\", 33, 0, 60, 90, 0]\nStep 5: [\"<|22-11|>\", \"<|local-1-1|>\", 33, 0, 60, 90, 0]\nStep 6: [\"<|22-11|>\", \"<|local-1-1|>\", 1, 0, 60, 90, 0]\nStep 7: [\"<|22-11|>\", \"<|local-1-1|>\", 1, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 31, 88, 33, 0, 60, 90, 1 ], [ 31, 88, 0, 0, 60, 90, 1 ], [ 31, 88, 0, 0, 60, 90, 0 ], [ 31, 88, 33, 0, 60, 90, 0 ], [ 88, 46, 33, 0, 60, 90, 0 ], [ 88, 46, 15, 0, 60, 90, 0 ], [ 88, 46, 15, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|olive|><|triangular prism|>\": 1, \"<|rose|><|cube|>\": 14, \"<|maroon|><|cylinder|>\": 11, \"<|green|><|star|>\": 23}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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 star on top of the 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|><|local-0-2|><|maroon|><|cylinder|><|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|><|local-3-0|><|green|><|star|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|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|><|local-2-1|><|olive|><|triangular prism|><|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|><|local-0-2|><|rose|><|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: <|green|><|star|> found at <|7-22|><|local-3-0|> with height 23\nTarget Placement Location: <|rose|><|cube|> at <|22-11|><|local-0-2|> with height 14\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|22-11|><|local-0-2|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|7-22|>\", \"<|local-3-0|>\", 33, 0, 60, 90, 1]\nStep 2: [\"<|7-22|>\", \"<|local-3-0|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|7-22|>\", \"<|local-3-0|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|7-22|>\", \"<|local-3-0|>\", 33, 0, 60, 90, 0]\nStep 5: [\"<|22-11|>\", \"<|local-0-2|>\", 33, 0, 60, 90, 0]\nStep 6: [\"<|22-11|>\", \"<|local-0-2|>\", 15, 0, 60, 90, 0]\nStep 7: [\"<|22-11|>\", \"<|local-0-2|>\", 15, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 67, 20, 18, 0, 60, 90, 1 ], [ 67, 20, 0, 0, 60, 90, 1 ], [ 67, 20, 0, 0, 60, 90, 0 ], [ 67, 20, 18, 0, 60, 90, 0 ], [ 25, 53, 18, 0, 60, 90, 0 ], [ 25, 53, 9, 0, 60, 90, 0 ], [ 25, 53, 9, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|rose|><|cube|>\": 16, \"<|gray|><|cube|>\": 12, \"<|black|><|moon|>\": 2, \"<|violet|><|moon|>\": 8, \"<|green|><|star|>\": 8, \"<|teal|><|triangular prism|>\": 14}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the violet moon on top of the green 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|><|local-1-1|><|green|><|star|><|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|><|local-0-3|><|rose|><|cube|><|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|><|local-2-2|><|teal|><|triangular prism|><|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|><|local-1-1|><|gray|><|cube|><|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|><|local-3-0|><|violet|><|moon|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|local-0-1|><|black|><|moon|><|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|><|moon|> found at <|16-5|><|local-3-0|> with height 8\nTarget Placement Location: <|green|><|star|> at <|6-13|><|local-1-1|> with height 8\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|6-13|><|local-1-1|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|16-5|>\", \"<|local-3-0|>\", 18, 0, 60, 90, 1]\nStep 2: [\"<|16-5|>\", \"<|local-3-0|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|16-5|>\", \"<|local-3-0|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|16-5|>\", \"<|local-3-0|>\", 18, 0, 60, 90, 0]\nStep 5: [\"<|6-13|>\", \"<|local-1-1|>\", 18, 0, 60, 90, 0]\nStep 6: [\"<|6-13|>\", \"<|local-1-1|>\", 9, 0, 60, 90, 0]\nStep 7: [\"<|6-13|>\", \"<|local-1-1|>\", 9, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 79, 12, 13, 0, 60, 90, 1 ], [ 79, 12, 0, 0, 60, 90, 1 ], [ 79, 12, 0, 0, 60, 90, 0 ], [ 79, 12, 15, 0, 60, 90, 0 ], [ 76, 21, 13, 0, 60, 90, 0 ], [ 76, 21, 11, 0, 60, 90, 0 ], [ 76, 21, 11, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|rose|><|cube|>\": 7, \"<|teal|><|container|>\": 11, \"<|magenta|><|container|>\": 7, \"<|black|><|star|>\": 25, \"<|purple|><|container|>\": 5, \"<|green|><|triangular prism|>\": 2, \"<|blue|><|cube|>\": 14}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the green triangular prism and place it into the teal container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|local-2-2|><|rose|><|cube|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|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|><|local-2-1|><|black|><|star|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|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|><|local-3-0|><|green|><|triangular prism|><|19-4|><|empty|><|19-5|><|local-0-1|><|teal|><|container|><|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|><|local-0-3|><|magenta|><|container|><|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|><|local-0-1|><|blue|><|cube|><|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|><|local-0-2|><|purple|><|container|><|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|><|triangular prism|> found at <|19-3|><|local-3-0|> with height 2\nTarget Placement Location: <|teal|><|container|> at <|19-5|><|local-0-1|> with height 11\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|19-5|><|local-0-1|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|green|><|triangular prism|> into <|teal|><|container|>.\n\n</think>\n\nStep 1: [\"<|19-3|>\", \"<|local-3-0|>\", 13, 0, 60, 90, 1]\nStep 2: [\"<|19-3|>\", \"<|local-3-0|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|19-3|>\", \"<|local-3-0|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|19-3|>\", \"<|local-3-0|>\", 15, 0, 60, 90, 0]\nStep 5: [\"<|19-5|>\", \"<|local-0-1|>\", 13, 0, 60, 90, 0]\nStep 6: [\"<|19-5|>\", \"<|local-0-1|>\", 11, 0, 60, 90, 0]\nStep 7: [\"<|19-5|>\", \"<|local-0-1|>\", 11, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 11, 2, 20, 0, 60, 90, 1 ], [ 11, 2, 0, 0, 60, 90, 1 ], [ 11, 2, 0, 0, 60, 90, 0 ], [ 11, 2, 20, 0, 60, 90, 0 ], [ 31, 93, 20, 0, 60, 90, 0 ], [ 31, 93, 8, 0, 60, 90, 0 ], [ 31, 93, 8, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|olive|><|container|>\": 8, \"<|cyan|><|container|>\": 21, \"<|maroon|><|star|>\": 25, \"<|lime|><|triangular prism|>\": 10}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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 triangular prism and place it into the olive container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|local-0-0|><|cyan|><|container|><|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|><|local-3-2|><|lime|><|triangular prism|><|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|><|local-1-2|><|maroon|><|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|><|local-3-1|><|olive|><|container|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|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 <|2-0|><|local-3-2|> with height 10\nTarget Placement Location: <|olive|><|container|> at <|7-23|><|local-3-1|> with height 8\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|7-23|><|local-3-1|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|lime|><|triangular prism|> into <|olive|><|container|>.\n\n</think>\n\nStep 1: [\"<|2-0|>\", \"<|local-3-2|>\", 20, 0, 60, 90, 1]\nStep 2: [\"<|2-0|>\", \"<|local-3-2|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|2-0|>\", \"<|local-3-2|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|2-0|>\", \"<|local-3-2|>\", 20, 0, 60, 90, 0]\nStep 5: [\"<|7-23|>\", \"<|local-3-1|>\", 20, 0, 60, 90, 0]\nStep 6: [\"<|7-23|>\", \"<|local-3-1|>\", 8, 0, 60, 90, 0]\nStep 7: [\"<|7-23|>\", \"<|local-3-1|>\", 8, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 65, 32, 23, 0, 60, 90, 1 ], [ 65, 32, 0, 0, 60, 90, 1 ], [ 65, 32, 0, 0, 60, 90, 0 ], [ 65, 32, 23, 0, 60, 90, 0 ], [ 2, 14, 23, 0, 60, 90, 0 ], [ 2, 14, 12, 0, 60, 90, 0 ], [ 2, 14, 12, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|gray|><|triangular prism|>\": 13, \"<|silver|><|container|>\": 28, \"<|azure|><|container|>\": 12, \"<|navy|><|container|>\": 16}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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 triangular prism and place it into the azure container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|local-2-2|><|azure|><|container|><|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|><|local-0-3|><|navy|><|container|><|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|><|local-1-0|><|silver|><|container|><|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|><|local-1-0|><|gray|><|triangular prism|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|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|><|triangular prism|> found at <|16-8|><|local-1-0|> with height 13\nTarget Placement Location: <|azure|><|container|> at <|0-3|><|local-2-2|> with height 12\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|0-3|><|local-2-2|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|gray|><|triangular prism|> into <|azure|><|container|>.\n\n</think>\n\nStep 1: [\"<|16-8|>\", \"<|local-1-0|>\", 23, 0, 60, 90, 1]\nStep 2: [\"<|16-8|>\", \"<|local-1-0|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|16-8|>\", \"<|local-1-0|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|16-8|>\", \"<|local-1-0|>\", 23, 0, 60, 90, 0]\nStep 5: [\"<|0-3|>\", \"<|local-2-2|>\", 23, 0, 60, 90, 0]\nStep 6: [\"<|0-3|>\", \"<|local-2-2|>\", 12, 0, 60, 90, 0]\nStep 7: [\"<|0-3|>\", \"<|local-2-2|>\", 12, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 16, 31, 25, 0, 60, 90, 1 ], [ 16, 31, 0, 0, 60, 90, 1 ], [ 16, 31, 0, 0, 60, 90, 0 ], [ 16, 31, 25, 0, 60, 90, 0 ], [ 83, 37, 25, 0, 60, 90, 0 ], [ 83, 37, 16, 0, 60, 90, 0 ], [ 83, 37, 16, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|yellow|><|star|>\": 28, \"<|azure|><|star|>\": 27, \"<|white|><|cube|>\": 15, \"<|teal|><|star|>\": 30, \"<|silver|><|moon|>\": 15, \"<|lime|><|star|>\": 30, \"<|lime|><|cylinder|>\": 3}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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 moon on top of the white cube\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|local-2-2|><|lime|><|star|><|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|><|local-0-3|><|silver|><|moon|><|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|><|local-0-1|><|yellow|><|star|><|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|><|local-3-3|><|azure|><|star|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|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|><|local-1-1|><|lime|><|cylinder|><|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|><|local-1-2|><|teal|><|star|><|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|><|local-3-1|><|white|><|cube|><|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|><|moon|> found at <|4-7|><|local-0-3|> with height 15\nTarget Placement Location: <|white|><|cube|> at <|20-9|><|local-3-1|> with height 15\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|20-9|><|local-3-1|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|4-7|>\", \"<|local-0-3|>\", 25, 0, 60, 90, 1]\nStep 2: [\"<|4-7|>\", \"<|local-0-3|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|4-7|>\", \"<|local-0-3|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|4-7|>\", \"<|local-0-3|>\", 25, 0, 60, 90, 0]\nStep 5: [\"<|20-9|>\", \"<|local-3-1|>\", 25, 0, 60, 90, 0]\nStep 6: [\"<|20-9|>\", \"<|local-3-1|>\", 16, 0, 60, 90, 0]\nStep 7: [\"<|20-9|>\", \"<|local-3-1|>\", 16, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 4, 96, 40, 0, 60, 90, 1 ], [ 4, 96, 0, 0, 60, 90, 1 ], [ 4, 96, 0, 0, 60, 90, 0 ], [ 4, 96, 40, 0, 60, 90, 0 ], [ 66, 73, 40, 0, 60, 90, 0 ], [ 66, 73, 20, 0, 60, 90, 0 ], [ 66, 73, 20, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|silver|><|cube|>\": 14, \"<|navy|><|cylinder|>\": 30, \"<|maroon|><|cube|>\": 19, \"<|rose|><|triangular prism|>\": 3, \"<|silver|><|triangular prism|>\": 11, \"<|purple|><|star|>\": 1, \"<|white|><|moon|>\": 16}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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 cylinder 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|><|local-1-1|><|silver|><|triangular prism|><|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|><|local-0-0|><|navy|><|cylinder|>\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|><|local-3-1|><|rose|><|triangular prism|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|local-1-2|><|silver|><|cube|><|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|><|local-2-2|><|purple|><|star|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|local-2-1|><|maroon|><|cube|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|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|><|local-2-3|><|white|><|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: <|navy|><|cylinder|> found at <|1-24|><|local-0-0|> with height 30\nTarget Placement Location: <|maroon|><|cube|> at <|16-18|><|local-2-1|> with height 19\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|16-18|><|local-2-1|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|1-24|>\", \"<|local-0-0|>\", 40, 0, 60, 90, 1]\nStep 2: [\"<|1-24|>\", \"<|local-0-0|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|1-24|>\", \"<|local-0-0|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|1-24|>\", \"<|local-0-0|>\", 40, 0, 60, 90, 0]\nStep 5: [\"<|16-18|>\", \"<|local-2-1|>\", 40, 0, 60, 90, 0]\nStep 6: [\"<|16-18|>\", \"<|local-2-1|>\", 20, 0, 60, 90, 0]\nStep 7: [\"<|16-18|>\", \"<|local-2-1|>\", 20, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 61, 66, 28, 0, 60, 90, 1 ], [ 61, 66, 0, 0, 60, 90, 1 ], [ 61, 66, 0, 0, 60, 90, 0 ], [ 61, 66, 28, 0, 60, 90, 0 ], [ 31, 6, 28, 0, 60, 90, 0 ], [ 31, 6, 11, 0, 60, 90, 0 ], [ 31, 6, 11, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|violet|><|moon|>\": 18, \"<|red|><|cylinder|>\": 8, \"<|azure|><|cube|>\": 10, \"<|olive|><|star|>\": 15, \"<|silver|><|triangular prism|>\": 26}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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 cube and the moon in sequence.\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|><|local-3-2|><|azure|><|cube|><|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|><|local-0-2|><|olive|><|star|><|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|><|local-1-2|><|violet|><|moon|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|local-1-0|><|silver|><|triangular prism|><|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|><|local-1-1|><|red|><|cylinder|><|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: <|violet|><|moon|> found at <|15-16|><|local-1-2|> with height 18\nTarget Placement Location: <|azure|><|cube|> at <|7-1|><|local-3-2|> with height 10\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|7-1|><|local-3-2|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|15-16|>\", \"<|local-1-2|>\", 28, 0, 60, 90, 1]\nStep 2: [\"<|15-16|>\", \"<|local-1-2|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|15-16|>\", \"<|local-1-2|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|15-16|>\", \"<|local-1-2|>\", 28, 0, 60, 90, 0]\nStep 5: [\"<|7-1|>\", \"<|local-3-2|>\", 28, 0, 60, 90, 0]\nStep 6: [\"<|7-1|>\", \"<|local-3-2|>\", 11, 0, 60, 90, 0]\nStep 7: [\"<|7-1|>\", \"<|local-3-2|>\", 11, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 51, 23, 19, 0, 60, 90, 1 ], [ 51, 23, 0, 0, 60, 90, 1 ], [ 51, 23, 0, 0, 60, 90, 0 ], [ 51, 23, 19, 0, 60, 90, 0 ], [ 64, 8, 19, 0, 60, 90, 0 ], [ 64, 8, 6, 0, 60, 90, 0 ], [ 64, 8, 6, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|lime|><|triangular prism|>\": 1, \"<|blue|><|triangular prism|>\": 9, \"<|magenta|><|moon|>\": 6, \"<|purple|><|triangular prism|>\": 14, \"<|black|><|triangular prism|>\": 11, \"<|red|><|moon|>\": 5, \"<|olive|><|moon|>\": 1}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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 triangular prism on top of the red 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|><|local-0-3|><|olive|><|moon|><|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|><|local-0-2|><|lime|><|triangular prism|><|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|><|local-0-1|><|purple|><|triangular prism|><|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|><|local-3-3|><|blue|><|triangular prism|><|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|><|local-0-1|><|black|><|triangular prism|><|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|><|local-0-0|><|red|><|moon|><|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|><|local-0-0|><|magenta|><|moon|><|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|><|triangular prism|> found at <|12-5|><|local-3-3|> with height 9\nTarget Placement Location: <|red|><|moon|> at <|16-2|><|local-0-0|> with height 5\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|16-2|><|local-0-0|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|12-5|>\", \"<|local-3-3|>\", 19, 0, 60, 90, 1]\nStep 2: [\"<|12-5|>\", \"<|local-3-3|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|12-5|>\", \"<|local-3-3|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|12-5|>\", \"<|local-3-3|>\", 19, 0, 60, 90, 0]\nStep 5: [\"<|16-2|>\", \"<|local-0-0|>\", 19, 0, 60, 90, 0]\nStep 6: [\"<|16-2|>\", \"<|local-0-0|>\", 6, 0, 60, 90, 0]\nStep 7: [\"<|16-2|>\", \"<|local-0-0|>\", 6, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 56, 87, 12, 0, 60, 90, 1 ], [ 56, 87, 0, 0, 60, 90, 1 ], [ 56, 87, 0, 0, 60, 90, 0 ], [ 56, 87, 14, 0, 60, 90, 0 ], [ 9, 8, 12, 0, 60, 90, 0 ], [ 9, 8, 12, 0, 60, 90, 0 ], [ 9, 8, 12, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|purple|><|moon|>\": 16, \"<|purple|><|cylinder|>\": 27, \"<|teal|><|star|>\": 29, \"<|violet|><|triangular prism|>\": 15, \"<|purple|><|cube|>\": 12, \"<|gray|><|cube|>\": 1}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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: Move the gray cube to [9, 8, 12]\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|><|local-1-3|><|purple|><|cylinder|><|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|><|local-1-0|><|purple|><|cube|><|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|><|local-3-3|><|teal|><|star|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|local-3-2|><|purple|><|moon|><|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|><|local-0-3|><|gray|><|cube|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|local-3-0|><|violet|><|triangular prism|><|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: <|gray|><|cube|> found at <|14-21|><|local-0-3|> with height 1\nTarget Placement Location: [9, 8] with height 12. Map [9, 8] (100x100) to a 25x25 grid, then a 4x4 subgrid. Result: <|2-2|><|local-1-0|>.\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|2-2|><|local-1-0|> at the same height as stage 4.\nStep 6: Move on top of target location at target_pos: <|2-2|><|local-1-0|> with height target_height.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|14-21|>\", \"<|local-0-3|>\", 12, 0, 60, 90, 1]\nStep 2: [\"<|14-21|>\", \"<|local-0-3|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|14-21|>\", \"<|local-0-3|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|14-21|>\", \"<|local-0-3|>\", 14, 0, 60, 90, 0]\nStep 5: [\"<|2-2|>\", \"<|local-1-0|>\", 12, 0, 60, 90, 0]\nStep 6: [\"<|2-2|>\", \"<|local-1-0|>\", 12, 0, 60, 90, 0]\nStep 7: [\"<|2-2|>\", \"<|local-1-0|>\", 12, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 13, 3, 38, 0, 60, 90, 1 ], [ 13, 3, 0, 0, 60, 90, 1 ], [ 13, 3, 0, 0, 60, 90, 0 ], [ 13, 3, 38, 0, 60, 90, 0 ], [ 76, 49, 38, 0, 60, 90, 0 ], [ 76, 49, 15, 0, 60, 90, 0 ], [ 76, 49, 15, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|red|><|cylinder|>\": 19, \"<|violet|><|moon|>\": 14, \"<|azure|><|moon|>\": 28, \"<|violet|><|star|>\": 11, \"<|navy|><|cube|>\": 14}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the navy cube and the azure moon in sequence.\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|><|local-1-3|><|azure|><|moon|><|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|><|local-3-3|><|violet|><|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|><|local-0-3|><|red|><|cylinder|><|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|><|local-0-1|><|navy|><|cube|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|local-1-3|><|violet|><|star|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\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 <|3-0|><|local-1-3|> with height 28\nTarget Placement Location: <|navy|><|cube|> at <|19-12|><|local-0-1|> with height 14\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|19-12|><|local-0-1|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|3-0|>\", \"<|local-1-3|>\", 38, 0, 60, 90, 1]\nStep 2: [\"<|3-0|>\", \"<|local-1-3|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|3-0|>\", \"<|local-1-3|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|3-0|>\", \"<|local-1-3|>\", 38, 0, 60, 90, 0]\nStep 5: [\"<|19-12|>\", \"<|local-0-1|>\", 38, 0, 60, 90, 0]\nStep 6: [\"<|19-12|>\", \"<|local-0-1|>\", 15, 0, 60, 90, 0]\nStep 7: [\"<|19-12|>\", \"<|local-0-1|>\", 15, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 77, 20, 12, 0, 60, 90, 1 ], [ 77, 20, 0, 0, 60, 90, 1 ], [ 77, 20, 0, 0, 60, 90, 0 ], [ 77, 20, 13, 0, 60, 90, 0 ], [ 40, 77, 12, 0, 60, 90, 0 ], [ 40, 77, 6, 0, 60, 90, 0 ], [ 40, 77, 6, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|lime|><|star|>\": 6, \"<|lime|><|cylinder|>\": 8, \"<|teal|><|triangular prism|>\": 2, \"<|yellow|><|triangular prism|>\": 4, \"<|teal|><|moon|>\": 25}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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: Move the teal triangular prism to [40, 77, 6]\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|><|local-2-3|><|yellow|><|triangular prism|><|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|><|local-0-1|><|lime|><|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|><|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|><|local-2-1|><|teal|><|moon|>\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|><|local-1-0|><|teal|><|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|><|local-2-3|><|lime|><|cylinder|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\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|><|triangular prism|> found at <|19-5|><|local-1-0|> with height 2\nTarget Placement Location: [40, 77] with height 6. Map [40, 77] (100x100) to a 25x25 grid, then a 4x4 subgrid. Result: <|10-19|><|local-0-1|>.\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|10-19|><|local-0-1|> at the same height as stage 4.\nStep 6: Move on top of target location at target_pos: <|10-19|><|local-0-1|> with height target_height.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|19-5|>\", \"<|local-1-0|>\", 12, 0, 60, 90, 1]\nStep 2: [\"<|19-5|>\", \"<|local-1-0|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|19-5|>\", \"<|local-1-0|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|19-5|>\", \"<|local-1-0|>\", 13, 0, 60, 90, 0]\nStep 5: [\"<|10-19|>\", \"<|local-0-1|>\", 12, 0, 60, 90, 0]\nStep 6: [\"<|10-19|>\", \"<|local-0-1|>\", 6, 0, 60, 90, 0]\nStep 7: [\"<|10-19|>\", \"<|local-0-1|>\", 6, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 43, 86, 21, 0, 60, 90, 1 ], [ 43, 86, 0, 0, 60, 90, 1 ], [ 43, 86, 0, 0, 60, 90, 0 ], [ 43, 86, 21, 0, 60, 90, 0 ], [ 9, 92, 21, 0, 60, 90, 0 ], [ 9, 92, 17, 0, 60, 90, 0 ], [ 9, 92, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|white|><|cube|>\": 11, \"<|black|><|cylinder|>\": 24, \"<|gray|><|triangular prism|>\": 16, \"<|silver|><|cylinder|>\": 12, \"<|red|><|cylinder|>\": 14}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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 cube on top of the gray triangular prism\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|local-1-0|><|gray|><|triangular prism|><|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|><|local-1-3|><|black|><|cylinder|><|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|><|local-3-2|><|white|><|cube|><|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|><|local-1-3|><|red|><|cylinder|><|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|><|local-2-0|><|silver|><|cylinder|><|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|><|cube|> found at <|10-21|><|local-3-2|> with height 11\nTarget Placement Location: <|gray|><|triangular prism|> at <|2-23|><|local-1-0|> with height 16\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|2-23|><|local-1-0|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|10-21|>\", \"<|local-3-2|>\", 21, 0, 60, 90, 1]\nStep 2: [\"<|10-21|>\", \"<|local-3-2|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|10-21|>\", \"<|local-3-2|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|10-21|>\", \"<|local-3-2|>\", 21, 0, 60, 90, 0]\nStep 5: [\"<|2-23|>\", \"<|local-1-0|>\", 21, 0, 60, 90, 0]\nStep 6: [\"<|2-23|>\", \"<|local-1-0|>\", 17, 0, 60, 90, 0]\nStep 7: [\"<|2-23|>\", \"<|local-1-0|>\", 17, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 79, 32, 15, 0, 60, 90, 1 ], [ 79, 32, 0, 0, 60, 90, 1 ], [ 79, 32, 0, 0, 60, 90, 0 ], [ 79, 32, 15, 0, 60, 90, 0 ], [ 51, 83, 15, 0, 60, 90, 0 ], [ 51, 83, 21, 0, 60, 90, 0 ], [ 51, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|navy|><|container|>\": 21, \"<|maroon|><|moon|>\": 19, \"<|white|><|container|>\": 24, \"<|magenta|><|star|>\": 20, \"<|purple|><|cube|>\": 9, \"<|red|><|cube|>\": 5, \"<|lime|><|container|>\": 1}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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 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|><|local-3-2|><|white|><|container|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|local-0-1|><|maroon|><|moon|><|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|><|local-0-2|><|purple|><|cube|><|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|><|local-3-3|><|navy|><|container|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|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|><|local-2-3|><|lime|><|container|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|local-3-3|><|magenta|><|star|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|local-3-0|><|red|><|cube|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\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|><|cube|> found at <|19-8|><|local-3-0|> with height 5\nTarget Placement Location: <|navy|><|container|> at <|12-20|><|local-3-3|> with height 21\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|12-20|><|local-3-3|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|red|><|cube|> into <|navy|><|container|>.\n\n</think>\n\nStep 1: [\"<|19-8|>\", \"<|local-3-0|>\", 15, 0, 60, 90, 1]\nStep 2: [\"<|19-8|>\", \"<|local-3-0|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|19-8|>\", \"<|local-3-0|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|19-8|>\", \"<|local-3-0|>\", 15, 0, 60, 90, 0]\nStep 5: [\"<|12-20|>\", \"<|local-3-3|>\", 15, 0, 60, 90, 0]\nStep 6: [\"<|12-20|>\", \"<|local-3-3|>\", 21, 0, 60, 90, 0]\nStep 7: [\"<|12-20|>\", \"<|local-3-3|>\", 21, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 5, 1, 15, 0, 60, 90, 1 ], [ 5, 1, 0, 0, 60, 90, 1 ], [ 5, 1, 0, 0, 60, 90, 0 ], [ 5, 1, 15, 0, 60, 90, 0 ], [ 26, 82, 14, 0, 60, 90, 0 ], [ 26, 82, 9, 0, 60, 90, 0 ], [ 26, 82, 9, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|green|><|container|>\": 15, \"<|violet|><|container|>\": 15, \"<|purple|><|cube|>\": 6, \"<|blue|><|container|>\": 9, \"<|navy|><|cube|>\": 26, \"<|magenta|><|star|>\": 4}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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 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|><|local-1-1|><|magenta|><|star|><|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|><|local-3-2|><|violet|><|container|><|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|><|local-0-0|><|green|><|container|><|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|><|local-2-2|><|blue|><|container|><|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|><|local-2-2|><|purple|><|cube|><|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|><|local-1-2|><|navy|><|cube|><|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|><|star|> found at <|1-0|><|local-1-1|> with height 4\nTarget Placement Location: <|blue|><|container|> at <|6-20|><|local-2-2|> with height 9\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|6-20|><|local-2-2|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|magenta|><|star|> into <|blue|><|container|>.\n\n</think>\n\nStep 1: [\"<|1-0|>\", \"<|local-1-1|>\", 15, 0, 60, 90, 1]\nStep 2: [\"<|1-0|>\", \"<|local-1-1|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|1-0|>\", \"<|local-1-1|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|1-0|>\", \"<|local-1-1|>\", 15, 0, 60, 90, 0]\nStep 5: [\"<|6-20|>\", \"<|local-2-2|>\", 14, 0, 60, 90, 0]\nStep 6: [\"<|6-20|>\", \"<|local-2-2|>\", 9, 0, 60, 90, 0]\nStep 7: [\"<|6-20|>\", \"<|local-2-2|>\", 9, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 96, 48, 12, 0, 60, 90, 1 ], [ 96, 48, 0, 0, 60, 90, 1 ], [ 96, 48, 0, 0, 60, 90, 0 ], [ 96, 48, 14, 0, 60, 90, 0 ], [ 26, 53, 14, 0, 60, 90, 0 ], [ 26, 53, 28, 0, 60, 90, 0 ], [ 26, 53, 28, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|magenta|><|container|>\": 15, \"<|azure|><|cylinder|>\": 2, \"<|teal|><|container|>\": 28, \"<|olive|><|triangular prism|>\": 6, \"<|navy|><|cylinder|>\": 18}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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 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|><|local-2-1|><|teal|><|container|><|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|><|local-1-2|><|magenta|><|container|><|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|><|local-2-3|><|olive|><|triangular prism|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|local-0-1|><|navy|><|cylinder|><|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|><|local-0-0|><|azure|><|cylinder|><|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|><|cylinder|> found at <|24-12|><|local-0-0|> with height 2\nTarget Placement Location: <|teal|><|container|> at <|6-13|><|local-2-1|> with height 28\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|6-13|><|local-2-1|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|azure|><|cylinder|> into <|teal|><|container|>.\n\n</think>\n\nStep 1: [\"<|24-12|>\", \"<|local-0-0|>\", 12, 0, 60, 90, 1]\nStep 2: [\"<|24-12|>\", \"<|local-0-0|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|24-12|>\", \"<|local-0-0|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|24-12|>\", \"<|local-0-0|>\", 14, 0, 60, 90, 0]\nStep 5: [\"<|6-13|>\", \"<|local-2-1|>\", 14, 0, 60, 90, 0]\nStep 6: [\"<|6-13|>\", \"<|local-2-1|>\", 28, 0, 60, 90, 0]\nStep 7: [\"<|6-13|>\", \"<|local-2-1|>\", 28, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 47, 9, 19, 0, 60, 90, 1 ], [ 47, 9, 0, 0, 60, 90, 1 ], [ 47, 9, 0, 0, 60, 90, 0 ], [ 47, 9, 19, 0, 60, 90, 0 ], [ 62, 40, 19, 0, 60, 90, 0 ], [ 62, 40, 27, 0, 60, 90, 0 ], [ 62, 40, 27, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|white|><|container|>\": 21, \"<|black|><|star|>\": 29, \"<|violet|><|star|>\": 4, \"<|yellow|><|container|>\": 26, \"<|teal|><|container|>\": 27, \"<|magenta|><|star|>\": 9}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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 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|><|local-1-3|><|yellow|><|container|><|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|><|local-3-1|><|magenta|><|star|><|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|><|local-3-0|><|violet|><|star|><|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|><|local-1-2|><|black|><|star|><|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|><|local-3-1|><|white|><|container|><|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|><|local-2-0|><|teal|><|container|><|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: <|magenta|><|star|> found at <|11-2|><|local-3-1|> with height 9\nTarget Placement Location: <|teal|><|container|> at <|15-10|><|local-2-0|> with height 27\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|15-10|><|local-2-0|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|magenta|><|star|> into <|teal|><|container|>.\n\n</think>\n\nStep 1: [\"<|11-2|>\", \"<|local-3-1|>\", 19, 0, 60, 90, 1]\nStep 2: [\"<|11-2|>\", \"<|local-3-1|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|11-2|>\", \"<|local-3-1|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|11-2|>\", \"<|local-3-1|>\", 19, 0, 60, 90, 0]\nStep 5: [\"<|15-10|>\", \"<|local-2-0|>\", 19, 0, 60, 90, 0]\nStep 6: [\"<|15-10|>\", \"<|local-2-0|>\", 27, 0, 60, 90, 0]\nStep 7: [\"<|15-10|>\", \"<|local-2-0|>\", 27, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 82, 97, 13, 0, 60, 90, 1 ], [ 82, 97, 0, 0, 60, 90, 1 ], [ 82, 97, 0, 0, 60, 90, 0 ], [ 82, 97, 14, 0, 60, 90, 0 ], [ 34, 87, 11, 0, 60, 90, 0 ], [ 34, 87, 18, 0, 60, 90, 0 ], [ 34, 87, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|azure|><|container|>\": 29, \"<|olive|><|container|>\": 13, \"<|navy|><|moon|>\": 4, \"<|silver|><|cube|>\": 1, \"<|green|><|container|>\": 18, \"<|magenta|><|star|>\": 1}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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 cube 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|><|local-0-2|><|olive|><|container|><|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|><|local-3-0|><|azure|><|container|>\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|><|local-2-3|><|green|><|container|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|local-3-3|><|navy|><|moon|><|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|><|local-2-1|><|silver|><|cube|>\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|><|local-2-3|><|magenta|><|star|><|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 <|20-24|><|local-2-1|> with height 1\nTarget Placement Location: <|green|><|container|> at <|8-21|><|local-2-3|> with height 18\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|8-21|><|local-2-3|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|silver|><|cube|> into <|green|><|container|>.\n\n</think>\n\nStep 1: [\"<|20-24|>\", \"<|local-2-1|>\", 13, 0, 60, 90, 1]\nStep 2: [\"<|20-24|>\", \"<|local-2-1|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|20-24|>\", \"<|local-2-1|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|20-24|>\", \"<|local-2-1|>\", 14, 0, 60, 90, 0]\nStep 5: [\"<|8-21|>\", \"<|local-2-3|>\", 11, 0, 60, 90, 0]\nStep 6: [\"<|8-21|>\", \"<|local-2-3|>\", 18, 0, 60, 90, 0]\nStep 7: [\"<|8-21|>\", \"<|local-2-3|>\", 18, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 7, 74, 15, 0, 60, 90, 1 ], [ 7, 74, 0, 0, 60, 90, 1 ], [ 7, 74, 0, 0, 60, 90, 0 ], [ 7, 74, 14, 0, 60, 90, 0 ], [ 5, 59, 15, 0, 60, 90, 0 ], [ 5, 59, 22, 0, 60, 90, 0 ], [ 5, 59, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|navy|><|triangular prism|>\": 5, \"<|magenta|><|container|>\": 22, \"<|magenta|><|cylinder|>\": 4, \"<|red|><|cube|>\": 2, \"<|maroon|><|container|>\": 18}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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 cylinder 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|><|local-0-1|><|navy|><|triangular prism|><|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|><|local-1-3|><|magenta|><|container|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|local-3-2|><|magenta|><|cylinder|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|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|><|local-1-2|><|red|><|cube|><|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|><|local-0-3|><|maroon|><|container|><|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|><|cylinder|> found at <|1-18|><|local-3-2|> with height 4\nTarget Placement Location: <|magenta|><|container|> at <|1-14|><|local-1-3|> with height 22\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|1-14|><|local-1-3|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|magenta|><|cylinder|> into <|magenta|><|container|>.\n\n</think>\n\nStep 1: [\"<|1-18|>\", \"<|local-3-2|>\", 15, 0, 60, 90, 1]\nStep 2: [\"<|1-18|>\", \"<|local-3-2|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|1-18|>\", \"<|local-3-2|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|1-18|>\", \"<|local-3-2|>\", 14, 0, 60, 90, 0]\nStep 5: [\"<|1-14|>\", \"<|local-1-3|>\", 15, 0, 60, 90, 0]\nStep 6: [\"<|1-14|>\", \"<|local-1-3|>\", 22, 0, 60, 90, 0]\nStep 7: [\"<|1-14|>\", \"<|local-1-3|>\", 22, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 19, 48, 24, 0, 60, 90, 1 ], [ 19, 48, 0, 0, 60, 90, 1 ], [ 19, 48, 0, 0, 60, 90, 0 ], [ 19, 48, 24, 0, 60, 90, 0 ], [ 2, 14, 24, 0, 60, 90, 0 ], [ 2, 14, 21, 0, 60, 90, 0 ], [ 2, 14, 21, 0, 60, 90, 1 ] ]

[ { "content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|magenta|><|cube|>\": 4, \"<|green|><|moon|>\": 2, \"<|cyan|><|moon|>\": 2, \"<|violet|><|cylinder|>\": 14, \"<|blue|><|moon|>\": 20}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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 and the violet cylinder in sequence.\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|local-2-2|><|blue|><|moon|><|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|><|local-1-2|><|magenta|><|cube|><|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|><|local-3-0|><|violet|><|cylinder|><|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|><|local-1-0|><|cyan|><|moon|><|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|><|local-0-2|><|green|><|moon|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|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: <|violet|><|cylinder|> found at <|4-12|><|local-3-0|> with height 14\nTarget Placement Location: <|blue|><|moon|> at <|0-3|><|local-2-2|> with height 20\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|0-3|><|local-2-2|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|4-12|>\", \"<|local-3-0|>\", 24, 0, 60, 90, 1]\nStep 2: [\"<|4-12|>\", \"<|local-3-0|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|4-12|>\", \"<|local-3-0|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|4-12|>\", \"<|local-3-0|>\", 24, 0, 60, 90, 0]\nStep 5: [\"<|0-3|>\", \"<|local-2-2|>\", 24, 0, 60, 90, 0]\nStep 6: [\"<|0-3|>\", \"<|local-2-2|>\", 21, 0, 60, 90, 0]\nStep 7: [\"<|0-3|>\", \"<|local-2-2|>\", 21, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 12, 63, 18, 0, 60, 90, 1 ], [ 12, 63, 0, 0, 60, 90, 1 ], [ 12, 63, 0, 0, 60, 90, 0 ], [ 12, 63, 18, 0, 60, 90, 0 ], [ 90, 50, 18, 0, 60, 90, 0 ], [ 90, 50, 3, 0, 60, 90, 0 ], [ 90, 50, 3, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|yellow|><|moon|>\": 8, \"<|black|><|cylinder|>\": 24, \"<|black|><|triangular prism|>\": 13, \"<|rose|><|container|>\": 26, \"<|blue|><|container|>\": 3, \"<|purple|><|container|>\": 20}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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 moon 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|><|local-2-1|><|black|><|triangular prism|><|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|><|local-0-3|><|yellow|><|moon|><|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|><|local-1-1|><|black|><|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|><|local-1-3|><|rose|><|container|><|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|><|local-3-3|><|purple|><|container|><|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|><|local-2-2|><|blue|><|container|><|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|><|moon|> found at <|3-15|><|local-0-3|> with height 8\nTarget Placement Location: <|blue|><|container|> at <|22-12|><|local-2-2|> with height 3\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|22-12|><|local-2-2|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|yellow|><|moon|> into <|blue|><|container|>.\n\n</think>\n\nStep 1: [\"<|3-15|>\", \"<|local-0-3|>\", 18, 0, 60, 90, 1]\nStep 2: [\"<|3-15|>\", \"<|local-0-3|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|3-15|>\", \"<|local-0-3|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|3-15|>\", \"<|local-0-3|>\", 18, 0, 60, 90, 0]\nStep 5: [\"<|22-12|>\", \"<|local-2-2|>\", 18, 0, 60, 90, 0]\nStep 6: [\"<|22-12|>\", \"<|local-2-2|>\", 3, 0, 60, 90, 0]\nStep 7: [\"<|22-12|>\", \"<|local-2-2|>\", 3, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 85, 9, 14, 0, 60, 90, 1 ], [ 85, 9, 0, 0, 60, 90, 1 ], [ 85, 9, 0, 0, 60, 90, 0 ], [ 85, 9, 13, 0, 60, 90, 0 ], [ 5, 2, 12, 0, 60, 90, 0 ], [ 5, 2, 23, 0, 60, 90, 0 ], [ 5, 2, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|cyan|><|cube|>\": 2, \"<|green|><|moon|>\": 19, \"<|violet|><|star|>\": 19, \"<|blue|><|container|>\": 1, \"<|cyan|><|container|>\": 23}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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 cube and place it into the cyan container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|local-1-2|><|cyan|><|container|><|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|><|local-1-1|><|green|><|moon|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|local-0-1|><|blue|><|container|><|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|><|local-2-0|><|violet|><|star|><|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|><|local-1-1|><|cyan|><|cube|><|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|><|cube|> found at <|21-2|><|local-1-1|> with height 2\nTarget Placement Location: <|cyan|><|container|> at <|1-0|><|local-1-2|> with height 23\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|1-0|><|local-1-2|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|cyan|><|cube|> into <|cyan|><|container|>.\n\n</think>\n\nStep 1: [\"<|21-2|>\", \"<|local-1-1|>\", 14, 0, 60, 90, 1]\nStep 2: [\"<|21-2|>\", \"<|local-1-1|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|21-2|>\", \"<|local-1-1|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|21-2|>\", \"<|local-1-1|>\", 13, 0, 60, 90, 0]\nStep 5: [\"<|1-0|>\", \"<|local-1-2|>\", 12, 0, 60, 90, 0]\nStep 6: [\"<|1-0|>\", \"<|local-1-2|>\", 23, 0, 60, 90, 0]\nStep 7: [\"<|1-0|>\", \"<|local-1-2|>\", 23, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 29, 64, 15, 0, 60, 90, 1 ], [ 29, 64, 0, 0, 60, 90, 1 ], [ 29, 64, 0, 0, 60, 90, 0 ], [ 29, 64, 15, 0, 60, 90, 0 ], [ 47, 80, 15, 0, 60, 90, 0 ], [ 47, 80, 4, 0, 60, 90, 0 ], [ 47, 80, 4, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|magenta|><|cylinder|>\": 10, \"<|lime|><|triangular prism|>\": 5, \"<|green|><|moon|>\": 25, \"<|blue|><|moon|>\": 3, \"<|purple|><|moon|>\": 5}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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 moon on top of the blue 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|><|local-0-2|><|magenta|><|cylinder|><|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|><|local-1-0|><|purple|><|moon|><|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|><|local-3-0|><|blue|><|moon|><|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|><|local-3-0|><|lime|><|triangular prism|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|local-1-3|><|green|><|moon|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|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|><|moon|> found at <|7-16|><|local-1-0|> with height 5\nTarget Placement Location: <|blue|><|moon|> at <|11-20|><|local-3-0|> with height 3\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|11-20|><|local-3-0|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|7-16|>\", \"<|local-1-0|>\", 15, 0, 60, 90, 1]\nStep 2: [\"<|7-16|>\", \"<|local-1-0|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|7-16|>\", \"<|local-1-0|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|7-16|>\", \"<|local-1-0|>\", 15, 0, 60, 90, 0]\nStep 5: [\"<|11-20|>\", \"<|local-3-0|>\", 15, 0, 60, 90, 0]\nStep 6: [\"<|11-20|>\", \"<|local-3-0|>\", 4, 0, 60, 90, 0]\nStep 7: [\"<|11-20|>\", \"<|local-3-0|>\", 4, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 7, 2, 15, 0, 60, 90, 1 ], [ 7, 2, 0, 0, 60, 90, 1 ], [ 7, 2, 0, 0, 60, 90, 0 ], [ 7, 2, 14, 0, 60, 90, 0 ], [ 86, 20, 14, 0, 60, 90, 0 ], [ 86, 20, 27, 0, 60, 90, 0 ], [ 86, 20, 27, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|lime|><|container|>\": 2, \"<|white|><|cylinder|>\": 1, \"<|cyan|><|container|>\": 27, \"<|red|><|moon|>\": 8, \"<|lime|><|cube|>\": 3}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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 cube and place it into the cyan container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|local-3-2|><|lime|><|cube|><|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|><|local-2-1|><|lime|><|container|><|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|><|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|><|local-2-2|><|white|><|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|><|local-2-1|><|red|><|moon|><|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|><|local-2-0|><|cyan|><|container|><|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|><|cube|> found at <|1-0|><|local-3-2|> with height 3\nTarget Placement Location: <|cyan|><|container|> at <|21-5|><|local-2-0|> with height 27\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|21-5|><|local-2-0|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|lime|><|cube|> into <|cyan|><|container|>.\n\n</think>\n\nStep 1: [\"<|1-0|>\", \"<|local-3-2|>\", 15, 0, 60, 90, 1]\nStep 2: [\"<|1-0|>\", \"<|local-3-2|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|1-0|>\", \"<|local-3-2|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|1-0|>\", \"<|local-3-2|>\", 14, 0, 60, 90, 0]\nStep 5: [\"<|21-5|>\", \"<|local-2-0|>\", 14, 0, 60, 90, 0]\nStep 6: [\"<|21-5|>\", \"<|local-2-0|>\", 27, 0, 60, 90, 0]\nStep 7: [\"<|21-5|>\", \"<|local-2-0|>\", 27, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 1, 35, 14, 0, 60, 90, 1 ], [ 1, 35, 0, 0, 60, 90, 1 ], [ 1, 35, 0, 0, 60, 90, 0 ], [ 1, 35, 15, 0, 60, 90, 0 ], [ 82, 63, 15, 0, 60, 90, 0 ], [ 82, 63, 20, 0, 60, 90, 0 ], [ 82, 63, 20, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|maroon|><|star|>\": 27, \"<|red|><|cube|>\": 1, \"<|purple|><|cube|>\": 19, \"<|red|><|cylinder|>\": 15, \"<|maroon|><|cylinder|>\": 4, \"<|azure|><|triangular prism|>\": 29}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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 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|><|local-1-3|><|maroon|><|cylinder|><|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|><|local-1-2|><|azure|><|triangular prism|><|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|><|local-0-1|><|red|><|cube|><|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|><|local-0-0|><|red|><|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|><|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|><|local-2-3|><|purple|><|cube|><|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|><|local-1-1|><|maroon|><|star|><|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 <|0-8|><|local-1-3|> with height 4\nTarget Placement Location: <|purple|><|cube|> at <|20-15|><|local-2-3|> with height 19\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|20-15|><|local-2-3|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|0-8|>\", \"<|local-1-3|>\", 14, 0, 60, 90, 1]\nStep 2: [\"<|0-8|>\", \"<|local-1-3|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|0-8|>\", \"<|local-1-3|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|0-8|>\", \"<|local-1-3|>\", 15, 0, 60, 90, 0]\nStep 5: [\"<|20-15|>\", \"<|local-2-3|>\", 15, 0, 60, 90, 0]\nStep 6: [\"<|20-15|>\", \"<|local-2-3|>\", 20, 0, 60, 90, 0]\nStep 7: [\"<|20-15|>\", \"<|local-2-3|>\", 20, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 47, 94, 13, 0, 60, 90, 1 ], [ 47, 94, 0, 0, 60, 90, 1 ], [ 47, 94, 0, 0, 60, 90, 0 ], [ 47, 94, 14, 0, 60, 90, 0 ], [ 66, 18, 14, 0, 60, 90, 0 ], [ 66, 18, 9, 0, 60, 90, 0 ], [ 66, 18, 9, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|red|><|cylinder|>\": 3, \"<|purple|><|star|>\": 29, \"<|blue|><|moon|>\": 10, \"<|magenta|><|cylinder|>\": 9, \"<|azure|><|moon|>\": 28}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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: Move the red cylinder to [66, 18, 9]\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|><|local-3-1|><|purple|><|star|><|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|><|local-3-2|><|red|><|cylinder|><|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|><|local-2-2|><|magenta|><|cylinder|><|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|><|local-3-1|><|blue|><|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|><|local-1-2|><|azure|><|moon|><|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 <|11-23|><|local-3-2|> with height 3\nTarget Placement Location: [66, 18] with height 9. Map [66, 18] (100x100) to a 25x25 grid, then a 4x4 subgrid. Result: <|16-4|><|local-2-2|>.\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|16-4|><|local-2-2|> at the same height as stage 4.\nStep 6: Move on top of target location at target_pos: <|16-4|><|local-2-2|> with height target_height.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|11-23|>\", \"<|local-3-2|>\", 13, 0, 60, 90, 1]\nStep 2: [\"<|11-23|>\", \"<|local-3-2|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|11-23|>\", \"<|local-3-2|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|11-23|>\", \"<|local-3-2|>\", 14, 0, 60, 90, 0]\nStep 5: [\"<|16-4|>\", \"<|local-2-2|>\", 14, 0, 60, 90, 0]\nStep 6: [\"<|16-4|>\", \"<|local-2-2|>\", 9, 0, 60, 90, 0]\nStep 7: [\"<|16-4|>\", \"<|local-2-2|>\", 9, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 93, 80, 13, 0, 60, 90, 1 ], [ 93, 80, 0, 0, 60, 90, 1 ], [ 93, 80, 0, 0, 60, 90, 0 ], [ 93, 80, 15, 0, 60, 90, 0 ], [ 69, 34, 15, 0, 60, 90, 0 ], [ 69, 34, 8, 0, 60, 90, 0 ], [ 69, 34, 8, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|olive|><|triangular prism|>\": 6, \"<|white|><|container|>\": 2, \"<|yellow|><|cube|>\": 30, \"<|navy|><|triangular prism|>\": 1, \"<|yellow|><|container|>\": 8, \"<|lime|><|cube|>\": 3, \"<|violet|><|star|>\": 11}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the lime cube and place it into the 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|><|local-3-2|><|navy|><|triangular prism|><|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|><|local-3-2|><|yellow|><|cube|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|local-1-1|><|violet|><|star|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|local-3-3|><|olive|><|triangular prism|><|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|><|local-1-2|><|yellow|><|container|><|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|><|local-0-0|><|white|><|container|><|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|><|local-1-0|><|lime|><|cube|><|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 <|23-20|><|local-1-0|> with height 3\nTarget Placement Location: <|yellow|><|container|> at <|17-8|><|local-1-2|> with height 8\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|17-8|><|local-1-2|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|lime|><|cube|> into <|yellow|><|container|>.\n\n</think>\n\nStep 1: [\"<|23-20|>\", \"<|local-1-0|>\", 13, 0, 60, 90, 1]\nStep 2: [\"<|23-20|>\", \"<|local-1-0|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|23-20|>\", \"<|local-1-0|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|23-20|>\", \"<|local-1-0|>\", 15, 0, 60, 90, 0]\nStep 5: [\"<|17-8|>\", \"<|local-1-2|>\", 15, 0, 60, 90, 0]\nStep 6: [\"<|17-8|>\", \"<|local-1-2|>\", 8, 0, 60, 90, 0]\nStep 7: [\"<|17-8|>\", \"<|local-1-2|>\", 8, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 20, 50, 21, 0, 60, 90, 1 ], [ 20, 50, 0, 0, 60, 90, 1 ], [ 20, 50, 0, 0, 60, 90, 0 ], [ 20, 50, 21, 0, 60, 90, 0 ], [ 33, 36, 21, 0, 60, 90, 0 ], [ 33, 36, 5, 0, 60, 90, 0 ], [ 33, 36, 5, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|azure|><|cylinder|>\": 1, \"<|red|><|cube|>\": 22, \"<|violet|><|cylinder|>\": 20, \"<|rose|><|cube|>\": 4, \"<|green|><|cube|>\": 11}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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 rose cube\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|local-3-1|><|violet|><|cylinder|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|local-0-2|><|green|><|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|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|local-1-0|><|rose|><|cube|><|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|><|local-1-2|><|azure|><|cylinder|><|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|><|local-0-2|><|red|><|cube|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|green|><|cube|> found at <|5-12|><|local-0-2|> with height 11\nTarget Placement Location: <|rose|><|cube|> at <|8-9|><|local-1-0|> with height 4\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|8-9|><|local-1-0|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|5-12|>\", \"<|local-0-2|>\", 21, 0, 60, 90, 1]\nStep 2: [\"<|5-12|>\", \"<|local-0-2|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|5-12|>\", \"<|local-0-2|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|5-12|>\", \"<|local-0-2|>\", 21, 0, 60, 90, 0]\nStep 5: [\"<|8-9|>\", \"<|local-1-0|>\", 21, 0, 60, 90, 0]\nStep 6: [\"<|8-9|>\", \"<|local-1-0|>\", 5, 0, 60, 90, 0]\nStep 7: [\"<|8-9|>\", \"<|local-1-0|>\", 5, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 60, 96, 17, 0, 60, 90, 1 ], [ 60, 96, 0, 0, 60, 90, 1 ], [ 60, 96, 0, 0, 60, 90, 0 ], [ 60, 96, 17, 0, 60, 90, 0 ], [ 32, 46, 17, 0, 60, 90, 0 ], [ 32, 46, 5, 0, 60, 90, 0 ], [ 32, 46, 5, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|yellow|><|triangular prism|>\": 17, \"<|gray|><|star|>\": 7, \"<|cyan|><|star|>\": 24, \"<|maroon|><|star|>\": 5, \"<|lime|><|moon|>\": 7, \"<|azure|><|moon|>\": 14, \"<|magenta|><|star|>\": 15}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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: Move the lime moon to [32, 46, 5]\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|><|local-2-1|><|azure|><|moon|><|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|><|local-0-2|><|maroon|><|star|><|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|><|local-1-3|><|magenta|><|star|><|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|><|local-0-0|><|gray|><|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|><|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|><|local-0-0|><|lime|><|moon|>\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|><|local-0-1|><|cyan|><|star|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|local-3-0|><|yellow|><|triangular prism|><|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 <|15-24|><|local-0-0|> with height 7\nTarget Placement Location: [32, 46] with height 5. Map [32, 46] (100x100) to a 25x25 grid, then a 4x4 subgrid. Result: <|8-11|><|local-0-2|>.\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|8-11|><|local-0-2|> at the same height as stage 4.\nStep 6: Move on top of target location at target_pos: <|8-11|><|local-0-2|> with height target_height.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|15-24|>\", \"<|local-0-0|>\", 17, 0, 60, 90, 1]\nStep 2: [\"<|15-24|>\", \"<|local-0-0|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|15-24|>\", \"<|local-0-0|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|15-24|>\", \"<|local-0-0|>\", 17, 0, 60, 90, 0]\nStep 5: [\"<|8-11|>\", \"<|local-0-2|>\", 17, 0, 60, 90, 0]\nStep 6: [\"<|8-11|>\", \"<|local-0-2|>\", 5, 0, 60, 90, 0]\nStep 7: [\"<|8-11|>\", \"<|local-0-2|>\", 5, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 93, 1, 15, 0, 60, 90, 1 ], [ 93, 1, 0, 0, 60, 90, 1 ], [ 93, 1, 0, 0, 60, 90, 0 ], [ 93, 1, 15, 0, 60, 90, 0 ], [ 11, 73, 15, 0, 60, 90, 0 ], [ 11, 73, 5, 0, 60, 90, 0 ], [ 11, 73, 5, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|maroon|><|cube|>\": 8, \"<|lime|><|cube|>\": 27, \"<|red|><|cylinder|>\": 3, \"<|white|><|cylinder|>\": 5, \"<|gray|><|moon|>\": 3, \"<|lime|><|star|>\": 4, \"<|navy|><|star|>\": 27}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the lime star and the white cylinder in sequence.\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|><|local-3-1|><|lime|><|star|><|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|><|local-2-1|><|red|><|cylinder|><|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|><|local-0-1|><|lime|><|cube|><|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|><|local-3-3|><|maroon|><|cube|><|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|><|local-0-2|><|gray|><|moon|><|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|><|local-1-1|><|white|><|cylinder|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|local-3-1|><|navy|><|star|><|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 <|23-0|><|local-1-1|> with height 5\nTarget Placement Location: <|lime|><|star|> at <|2-18|><|local-3-1|> with height 4\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|2-18|><|local-3-1|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|23-0|>\", \"<|local-1-1|>\", 15, 0, 60, 90, 1]\nStep 2: [\"<|23-0|>\", \"<|local-1-1|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|23-0|>\", \"<|local-1-1|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|23-0|>\", \"<|local-1-1|>\", 15, 0, 60, 90, 0]\nStep 5: [\"<|2-18|>\", \"<|local-3-1|>\", 15, 0, 60, 90, 0]\nStep 6: [\"<|2-18|>\", \"<|local-3-1|>\", 5, 0, 60, 90, 0]\nStep 7: [\"<|2-18|>\", \"<|local-3-1|>\", 5, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 92, 88, 15, 0, 60, 90, 1 ], [ 92, 88, 0, 0, 60, 90, 1 ], [ 92, 88, 0, 0, 60, 90, 0 ], [ 92, 88, 15, 0, 60, 90, 0 ], [ 40, 86, 15, 0, 60, 90, 0 ], [ 40, 86, 28, 0, 60, 90, 0 ], [ 40, 86, 28, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|green|><|star|>\": 5, \"<|yellow|><|triangular prism|>\": 4, \"<|blue|><|container|>\": 28, \"<|purple|><|cube|>\": 10, \"<|navy|><|container|>\": 28}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the green star and place it into the 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|><|local-3-0|><|blue|><|container|><|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|><|local-0-2|><|purple|><|cube|><|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|><|local-0-2|><|navy|><|container|><|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|><|local-0-1|><|yellow|><|triangular prism|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|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|><|local-0-0|><|green|><|star|><|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 <|23-22|><|local-0-0|> with height 5\nTarget Placement Location: <|navy|><|container|> at <|10-21|><|local-0-2|> with height 28\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|10-21|><|local-0-2|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|green|><|star|> into <|navy|><|container|>.\n\n</think>\n\nStep 1: [\"<|23-22|>\", \"<|local-0-0|>\", 15, 0, 60, 90, 1]\nStep 2: [\"<|23-22|>\", \"<|local-0-0|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|23-22|>\", \"<|local-0-0|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|23-22|>\", \"<|local-0-0|>\", 15, 0, 60, 90, 0]\nStep 5: [\"<|10-21|>\", \"<|local-0-2|>\", 15, 0, 60, 90, 0]\nStep 6: [\"<|10-21|>\", \"<|local-0-2|>\", 28, 0, 60, 90, 0]\nStep 7: [\"<|10-21|>\", \"<|local-0-2|>\", 28, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 61, 95, 17, 0, 60, 90, 1 ], [ 61, 95, 0, 0, 60, 90, 1 ], [ 61, 95, 0, 0, 60, 90, 0 ], [ 61, 95, 17, 0, 60, 90, 0 ], [ 26, 16, 17, 0, 60, 90, 0 ], [ 26, 16, 17, 0, 60, 90, 0 ], [ 26, 16, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|green|><|cube|>\": 20, \"<|green|><|moon|>\": 22, \"<|silver|><|cylinder|>\": 7, \"<|maroon|><|container|>\": 22, \"<|magenta|><|container|>\": 17}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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 cylinder 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|><|local-0-3|><|green|><|moon|><|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|><|local-2-0|><|magenta|><|container|><|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|><|local-0-3|><|green|><|cube|><|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|><|local-1-3|><|silver|><|cylinder|><|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|><|local-1-2|><|maroon|><|container|><|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 <|15-23|><|local-1-3|> with height 7\nTarget Placement Location: <|magenta|><|container|> at <|6-4|><|local-2-0|> with height 17\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|6-4|><|local-2-0|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|silver|><|cylinder|> into <|magenta|><|container|>.\n\n</think>\n\nStep 1: [\"<|15-23|>\", \"<|local-1-3|>\", 17, 0, 60, 90, 1]\nStep 2: [\"<|15-23|>\", \"<|local-1-3|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|15-23|>\", \"<|local-1-3|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|15-23|>\", \"<|local-1-3|>\", 17, 0, 60, 90, 0]\nStep 5: [\"<|6-4|>\", \"<|local-2-0|>\", 17, 0, 60, 90, 0]\nStep 6: [\"<|6-4|>\", \"<|local-2-0|>\", 17, 0, 60, 90, 0]\nStep 7: [\"<|6-4|>\", \"<|local-2-0|>\", 17, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 60, 48, 17, 0, 60, 90, 1 ], [ 60, 48, 0, 0, 60, 90, 1 ], [ 60, 48, 0, 0, 60, 90, 0 ], [ 60, 48, 17, 0, 60, 90, 0 ], [ 44, 51, 17, 0, 60, 90, 0 ], [ 44, 51, 15, 0, 60, 90, 0 ], [ 44, 51, 15, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|silver|><|triangular prism|>\": 19, \"<|cyan|><|cube|>\": 14, \"<|gray|><|star|>\": 7, \"<|lime|><|moon|>\": 3}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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 cube and the star in sequence.\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|><|local-2-3|><|lime|><|moon|><|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|><|local-0-0|><|silver|><|triangular prism|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|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|><|local-0-3|><|cyan|><|cube|><|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|><|local-0-0|><|gray|><|star|><|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: <|gray|><|star|> found at <|15-12|><|local-0-0|> with height 7\nTarget Placement Location: <|cyan|><|cube|> at <|11-12|><|local-0-3|> with height 14\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|11-12|><|local-0-3|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|15-12|>\", \"<|local-0-0|>\", 17, 0, 60, 90, 1]\nStep 2: [\"<|15-12|>\", \"<|local-0-0|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|15-12|>\", \"<|local-0-0|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|15-12|>\", \"<|local-0-0|>\", 17, 0, 60, 90, 0]\nStep 5: [\"<|11-12|>\", \"<|local-0-3|>\", 17, 0, 60, 90, 0]\nStep 6: [\"<|11-12|>\", \"<|local-0-3|>\", 15, 0, 60, 90, 0]\nStep 7: [\"<|11-12|>\", \"<|local-0-3|>\", 15, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 96, 57, 17, 0, 60, 90, 1 ], [ 96, 57, 0, 0, 60, 90, 1 ], [ 96, 57, 0, 0, 60, 90, 0 ], [ 96, 57, 17, 0, 60, 90, 0 ], [ 19, 19, 17, 0, 60, 90, 0 ], [ 19, 19, 11, 0, 60, 90, 0 ], [ 19, 19, 11, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|purple|><|star|>\": 7, \"<|violet|><|cube|>\": 24, \"<|purple|><|container|>\": 26, \"<|lime|><|container|>\": 11, \"<|olive|><|container|>\": 23, \"<|lime|><|star|>\": 1}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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 star and place it into the lime container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|local-3-2|><|lime|><|star|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|local-3-3|><|lime|><|container|><|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|><|local-1-0|><|violet|><|cube|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|local-1-3|><|olive|><|container|><|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|><|local-1-3|><|purple|><|container|><|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|><|local-0-1|><|purple|><|star|><|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|><|star|> found at <|24-14|><|local-0-1|> with height 7\nTarget Placement Location: <|lime|><|container|> at <|4-4|><|local-3-3|> with height 11\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|4-4|><|local-3-3|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|purple|><|star|> into <|lime|><|container|>.\n\n</think>\n\nStep 1: [\"<|24-14|>\", \"<|local-0-1|>\", 17, 0, 60, 90, 1]\nStep 2: [\"<|24-14|>\", \"<|local-0-1|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|24-14|>\", \"<|local-0-1|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|24-14|>\", \"<|local-0-1|>\", 17, 0, 60, 90, 0]\nStep 5: [\"<|4-4|>\", \"<|local-3-3|>\", 17, 0, 60, 90, 0]\nStep 6: [\"<|4-4|>\", \"<|local-3-3|>\", 11, 0, 60, 90, 0]\nStep 7: [\"<|4-4|>\", \"<|local-3-3|>\", 11, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 23, 2, 13, 0, 60, 90, 1 ], [ 23, 2, 0, 0, 60, 90, 1 ], [ 23, 2, 0, 0, 60, 90, 0 ], [ 23, 2, 14, 0, 60, 90, 0 ], [ 10, 31, 15, 0, 60, 90, 0 ], [ 10, 31, 6, 0, 60, 90, 0 ], [ 10, 31, 6, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|blue|><|cube|>\": 27, \"<|gray|><|star|>\": 5, \"<|purple|><|star|>\": 1, \"<|green|><|cylinder|>\": 3, \"<|red|><|star|>\": 10}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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 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|><|local-2-3|><|gray|><|star|><|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|><|local-3-2|><|green|><|cylinder|><|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|><|local-0-1|><|blue|><|cube|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|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|><|local-1-1|><|purple|><|star|><|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|><|local-0-0|><|red|><|star|><|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|><|cylinder|> found at <|5-0|><|local-3-2|> with height 3\nTarget Placement Location: <|gray|><|star|> at <|2-7|><|local-2-3|> with height 5\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|2-7|><|local-2-3|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|5-0|>\", \"<|local-3-2|>\", 13, 0, 60, 90, 1]\nStep 2: [\"<|5-0|>\", \"<|local-3-2|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|5-0|>\", \"<|local-3-2|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|5-0|>\", \"<|local-3-2|>\", 14, 0, 60, 90, 0]\nStep 5: [\"<|2-7|>\", \"<|local-2-3|>\", 15, 0, 60, 90, 0]\nStep 6: [\"<|2-7|>\", \"<|local-2-3|>\", 6, 0, 60, 90, 0]\nStep 7: [\"<|2-7|>\", \"<|local-2-3|>\", 6, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 56, 0, 26, 0, 60, 90, 1 ], [ 56, 0, 0, 0, 60, 90, 1 ], [ 56, 0, 0, 0, 60, 90, 0 ], [ 56, 0, 26, 0, 60, 90, 0 ], [ 7, 58, 26, 0, 60, 90, 0 ], [ 7, 58, 5, 0, 60, 90, 0 ], [ 7, 58, 5, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|red|><|cube|>\": 16, \"<|olive|><|cube|>\": 12, \"<|silver|><|cylinder|>\": 30, \"<|navy|><|triangular prism|>\": 16, \"<|rose|><|cube|>\": 4, \"<|azure|><|cylinder|>\": 13, \"<|blue|><|triangular prism|>\": 27}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the red cube on top of the rose cube\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|local-1-3|><|navy|><|triangular prism|><|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|><|local-3-2|><|rose|><|cube|><|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|><|local-1-3|><|azure|><|cylinder|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|local-2-1|><|blue|><|triangular prism|><|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|><|local-0-3|><|silver|><|cylinder|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|local-0-0|><|red|><|cube|><|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|><|local-2-0|><|olive|><|cube|><|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|><|cube|> found at <|14-0|><|local-0-0|> with height 16\nTarget Placement Location: <|rose|><|cube|> at <|1-14|><|local-3-2|> with height 4\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|1-14|><|local-3-2|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|14-0|>\", \"<|local-0-0|>\", 26, 0, 60, 90, 1]\nStep 2: [\"<|14-0|>\", \"<|local-0-0|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|14-0|>\", \"<|local-0-0|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|14-0|>\", \"<|local-0-0|>\", 26, 0, 60, 90, 0]\nStep 5: [\"<|1-14|>\", \"<|local-3-2|>\", 26, 0, 60, 90, 0]\nStep 6: [\"<|1-14|>\", \"<|local-3-2|>\", 5, 0, 60, 90, 0]\nStep 7: [\"<|1-14|>\", \"<|local-3-2|>\", 5, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 30, 23, 32, 0, 60, 90, 1 ], [ 30, 23, 0, 0, 60, 90, 1 ], [ 30, 23, 0, 0, 60, 90, 0 ], [ 30, 23, 32, 0, 60, 90, 0 ], [ 41, 45, 32, 0, 60, 90, 0 ], [ 41, 45, 17, 0, 60, 90, 0 ], [ 41, 45, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|cyan|><|triangular prism|>\": 9, \"<|magenta|><|moon|>\": 17, \"<|rose|><|moon|>\": 21, \"<|lime|><|triangular prism|>\": 20, \"<|maroon|><|moon|>\": 19, \"<|green|><|star|>\": 22}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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: Move the green star to [41, 45, 17]\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|><|local-1-1|><|maroon|><|moon|><|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|><|local-2-3|><|green|><|star|><|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|><|local-1-1|><|magenta|><|moon|><|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|><|local-3-1|><|rose|><|moon|><|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|><|local-1-0|><|lime|><|triangular prism|><|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|><|local-0-0|><|cyan|><|triangular prism|><|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 <|7-5|><|local-2-3|> with height 22\nTarget Placement Location: [41, 45] with height 17. Map [41, 45] (100x100) to a 25x25 grid, then a 4x4 subgrid. Result: <|10-11|><|local-1-1|>.\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|10-11|><|local-1-1|> at the same height as stage 4.\nStep 6: Move on top of target location at target_pos: <|10-11|><|local-1-1|> with height target_height.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|7-5|>\", \"<|local-2-3|>\", 32, 0, 60, 90, 1]\nStep 2: [\"<|7-5|>\", \"<|local-2-3|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|7-5|>\", \"<|local-2-3|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|7-5|>\", \"<|local-2-3|>\", 32, 0, 60, 90, 0]\nStep 5: [\"<|10-11|>\", \"<|local-1-1|>\", 32, 0, 60, 90, 0]\nStep 6: [\"<|10-11|>\", \"<|local-1-1|>\", 17, 0, 60, 90, 0]\nStep 7: [\"<|10-11|>\", \"<|local-1-1|>\", 17, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 4, 3, 25, 0, 60, 90, 1 ], [ 4, 3, 0, 0, 60, 90, 1 ], [ 4, 3, 0, 0, 60, 90, 0 ], [ 4, 3, 25, 0, 60, 90, 0 ], [ 54, 79, 25, 0, 60, 90, 0 ], [ 54, 79, 24, 0, 60, 90, 0 ], [ 54, 79, 24, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|red|><|star|>\": 15, \"<|navy|><|cube|>\": 23, \"<|purple|><|triangular prism|>\": 16, \"<|gray|><|cylinder|>\": 3, \"<|black|><|moon|>\": 1, \"<|lime|><|container|>\": 17}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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 star on top of the 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|><|local-0-3|><|red|><|star|><|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|><|local-2-1|><|gray|><|cylinder|><|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|><|local-1-2|><|lime|><|container|><|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|><|local-2-3|><|navy|><|cube|><|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|><|local-2-2|><|purple|><|triangular prism|><|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|><|local-2-1|><|black|><|moon|><|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 <|1-0|><|local-0-3|> with height 15\nTarget Placement Location: <|navy|><|cube|> at <|13-19|><|local-2-3|> with height 23\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|13-19|><|local-2-3|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|1-0|>\", \"<|local-0-3|>\", 25, 0, 60, 90, 1]\nStep 2: [\"<|1-0|>\", \"<|local-0-3|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|1-0|>\", \"<|local-0-3|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|1-0|>\", \"<|local-0-3|>\", 25, 0, 60, 90, 0]\nStep 5: [\"<|13-19|>\", \"<|local-2-3|>\", 25, 0, 60, 90, 0]\nStep 6: [\"<|13-19|>\", \"<|local-2-3|>\", 24, 0, 60, 90, 0]\nStep 7: [\"<|13-19|>\", \"<|local-2-3|>\", 24, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 83, 96, 26, 0, 60, 90, 1 ], [ 83, 96, 0, 0, 60, 90, 1 ], [ 83, 96, 0, 0, 60, 90, 0 ], [ 83, 96, 26, 0, 60, 90, 0 ], [ 59, 20, 26, 0, 60, 90, 0 ], [ 59, 20, 3, 0, 60, 90, 0 ], [ 59, 20, 3, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|cyan|><|container|>\": 3, \"<|black|><|moon|>\": 26, \"<|teal|><|container|>\": 16, \"<|green|><|triangular prism|>\": 16, \"<|azure|><|moon|>\": 30}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the green triangular prism and place it into the cyan container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|local-1-3|><|azure|><|moon|><|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|><|local-2-1|><|black|><|moon|><|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|><|local-3-1|><|teal|><|container|><|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|><|local-3-0|><|cyan|><|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|><|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|><|local-3-0|><|green|><|triangular prism|>\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|><|triangular prism|> found at <|20-24|><|local-3-0|> with height 16\nTarget Placement Location: <|cyan|><|container|> at <|14-5|><|local-3-0|> with height 3\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|14-5|><|local-3-0|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|green|><|triangular prism|> into <|cyan|><|container|>.\n\n</think>\n\nStep 1: [\"<|20-24|>\", \"<|local-3-0|>\", 26, 0, 60, 90, 1]\nStep 2: [\"<|20-24|>\", \"<|local-3-0|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|20-24|>\", \"<|local-3-0|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|20-24|>\", \"<|local-3-0|>\", 26, 0, 60, 90, 0]\nStep 5: [\"<|14-5|>\", \"<|local-3-0|>\", 26, 0, 60, 90, 0]\nStep 6: [\"<|14-5|>\", \"<|local-3-0|>\", 3, 0, 60, 90, 0]\nStep 7: [\"<|14-5|>\", \"<|local-3-0|>\", 3, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 45, 69, 29, 0, 60, 90, 1 ], [ 45, 69, 0, 0, 60, 90, 1 ], [ 45, 69, 0, 0, 60, 90, 0 ], [ 45, 69, 29, 0, 60, 90, 0 ], [ 79, 43, 29, 0, 60, 90, 0 ], [ 79, 43, 20, 0, 60, 90, 0 ], [ 79, 43, 20, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|cyan|><|container|>\": 20, \"<|gray|><|cylinder|>\": 5, \"<|purple|><|container|>\": 16, \"<|rose|><|cube|>\": 19, \"<|olive|><|container|>\": 3}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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 cyan container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|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|><|local-1-1|><|rose|><|cube|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|local-3-2|><|gray|><|cylinder|><|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|><|local-0-3|><|purple|><|container|><|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|><|local-3-3|><|cyan|><|container|><|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|><|local-1-0|><|olive|><|container|><|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 <|11-17|><|local-1-1|> with height 19\nTarget Placement Location: <|cyan|><|container|> at <|19-10|><|local-3-3|> with height 20\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|19-10|><|local-3-3|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|rose|><|cube|> into <|cyan|><|container|>.\n\n</think>\n\nStep 1: [\"<|11-17|>\", \"<|local-1-1|>\", 29, 0, 60, 90, 1]\nStep 2: [\"<|11-17|>\", \"<|local-1-1|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|11-17|>\", \"<|local-1-1|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|11-17|>\", \"<|local-1-1|>\", 29, 0, 60, 90, 0]\nStep 5: [\"<|19-10|>\", \"<|local-3-3|>\", 29, 0, 60, 90, 0]\nStep 6: [\"<|19-10|>\", \"<|local-3-3|>\", 20, 0, 60, 90, 0]\nStep 7: [\"<|19-10|>\", \"<|local-3-3|>\", 20, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 70, 32, 29, 0, 60, 90, 1 ], [ 70, 32, 0, 0, 60, 90, 1 ], [ 70, 32, 0, 0, 60, 90, 0 ], [ 70, 32, 29, 0, 60, 90, 0 ], [ 65, 44, 29, 0, 60, 90, 0 ], [ 65, 44, 3, 0, 60, 90, 0 ], [ 65, 44, 3, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|purple|><|star|>\": 2, \"<|navy|><|cylinder|>\": 19, \"<|cyan|><|triangular prism|>\": 16, \"<|cyan|><|cube|>\": 11}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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 cylinder on top of the 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|><|local-2-1|><|cyan|><|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|><|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|><|local-1-0|><|cyan|><|triangular prism|><|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|><|local-1-0|><|purple|><|star|><|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|><|local-2-0|><|navy|><|cylinder|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|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|><|cylinder|> found at <|17-8|><|local-2-0|> with height 19\nTarget Placement Location: <|purple|><|star|> at <|16-11|><|local-1-0|> with height 2\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|16-11|><|local-1-0|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|17-8|>\", \"<|local-2-0|>\", 29, 0, 60, 90, 1]\nStep 2: [\"<|17-8|>\", \"<|local-2-0|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|17-8|>\", \"<|local-2-0|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|17-8|>\", \"<|local-2-0|>\", 29, 0, 60, 90, 0]\nStep 5: [\"<|16-11|>\", \"<|local-1-0|>\", 29, 0, 60, 90, 0]\nStep 6: [\"<|16-11|>\", \"<|local-1-0|>\", 3, 0, 60, 90, 0]\nStep 7: [\"<|16-11|>\", \"<|local-1-0|>\", 3, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 71, 8, 38, 0, 60, 90, 1 ], [ 71, 8, 0, 0, 60, 90, 1 ], [ 71, 8, 0, 0, 60, 90, 0 ], [ 71, 8, 38, 0, 60, 90, 0 ], [ 90, 56, 38, 0, 60, 90, 0 ], [ 90, 56, 9, 0, 60, 90, 0 ], [ 90, 56, 9, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|violet|><|cube|>\": 13, \"<|azure|><|cube|>\": 8, \"<|olive|><|triangular prism|>\": 28, \"<|black|><|cube|>\": 15, \"<|azure|><|star|>\": 16}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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 triangular prism 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|><|local-1-2|><|azure|><|star|><|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|><|local-2-0|><|violet|><|cube|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|local-3-0|><|olive|><|triangular prism|><|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|><|local-2-0|><|azure|><|cube|><|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|><|local-2-1|><|black|><|cube|><|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 <|17-2|><|local-3-0|> with height 28\nTarget Placement Location: <|azure|><|cube|> at <|22-14|><|local-2-0|> with height 8\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|22-14|><|local-2-0|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|17-2|>\", \"<|local-3-0|>\", 38, 0, 60, 90, 1]\nStep 2: [\"<|17-2|>\", \"<|local-3-0|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|17-2|>\", \"<|local-3-0|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|17-2|>\", \"<|local-3-0|>\", 38, 0, 60, 90, 0]\nStep 5: [\"<|22-14|>\", \"<|local-2-0|>\", 38, 0, 60, 90, 0]\nStep 6: [\"<|22-14|>\", \"<|local-2-0|>\", 9, 0, 60, 90, 0]\nStep 7: [\"<|22-14|>\", \"<|local-2-0|>\", 9, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 71, 16, 29, 0, 60, 90, 1 ], [ 71, 16, 0, 0, 60, 90, 1 ], [ 71, 16, 0, 0, 60, 90, 0 ], [ 71, 16, 29, 0, 60, 90, 0 ], [ 76, 31, 29, 0, 60, 90, 0 ], [ 76, 31, 28, 0, 60, 90, 0 ], [ 76, 31, 28, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|lime|><|cylinder|>\": 3, \"<|red|><|triangular prism|>\": 19, \"<|black|><|cube|>\": 28, \"<|cyan|><|cylinder|>\": 20, \"<|navy|><|triangular prism|>\": 27, \"<|purple|><|cube|>\": 6, \"<|violet|><|triangular prism|>\": 1}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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 triangular prism and the red triangular prism in sequence.\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|><|local-0-0|><|lime|><|cylinder|><|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|><|local-2-2|><|cyan|><|cylinder|><|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|><|local-2-0|><|violet|><|triangular prism|><|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|><|local-3-1|><|black|><|cube|><|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|><|local-3-0|><|red|><|triangular prism|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|local-3-3|><|purple|><|cube|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|local-0-3|><|navy|><|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|><|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 <|17-4|><|local-3-0|> with height 19\nTarget Placement Location: <|navy|><|triangular prism|> at <|19-7|><|local-0-3|> with height 27\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|19-7|><|local-0-3|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|17-4|>\", \"<|local-3-0|>\", 29, 0, 60, 90, 1]\nStep 2: [\"<|17-4|>\", \"<|local-3-0|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|17-4|>\", \"<|local-3-0|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|17-4|>\", \"<|local-3-0|>\", 29, 0, 60, 90, 0]\nStep 5: [\"<|19-7|>\", \"<|local-0-3|>\", 29, 0, 60, 90, 0]\nStep 6: [\"<|19-7|>\", \"<|local-0-3|>\", 28, 0, 60, 90, 0]\nStep 7: [\"<|19-7|>\", \"<|local-0-3|>\", 28, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 30, 34, 31, 0, 60, 90, 1 ], [ 30, 34, 0, 0, 60, 90, 1 ], [ 30, 34, 0, 0, 60, 90, 0 ], [ 30, 34, 31, 0, 60, 90, 0 ], [ 29, 72, 31, 0, 60, 90, 0 ], [ 29, 72, 24, 0, 60, 90, 0 ], [ 29, 72, 24, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|violet|><|moon|>\": 30, \"<|gray|><|star|>\": 5, \"<|silver|><|moon|>\": 21, \"<|blue|><|triangular prism|>\": 2, \"<|teal|><|moon|>\": 23}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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 and the silver moon in sequence.\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|><|local-1-1|><|violet|><|moon|><|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|><|local-2-2|><|silver|><|moon|><|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|><|local-1-0|><|teal|><|moon|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|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|><|local-3-1|><|gray|><|star|><|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|><|local-2-3|><|blue|><|triangular prism|><|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|><|moon|> found at <|7-8|><|local-2-2|> with height 21\nTarget Placement Location: <|teal|><|moon|> at <|7-18|><|local-1-0|> with height 23\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|7-18|><|local-1-0|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|7-8|>\", \"<|local-2-2|>\", 31, 0, 60, 90, 1]\nStep 2: [\"<|7-8|>\", \"<|local-2-2|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|7-8|>\", \"<|local-2-2|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|7-8|>\", \"<|local-2-2|>\", 31, 0, 60, 90, 0]\nStep 5: [\"<|7-18|>\", \"<|local-1-0|>\", 31, 0, 60, 90, 0]\nStep 6: [\"<|7-18|>\", \"<|local-1-0|>\", 24, 0, 60, 90, 0]\nStep 7: [\"<|7-18|>\", \"<|local-1-0|>\", 24, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 6, 33, 19, 0, 60, 90, 1 ], [ 6, 33, 0, 0, 60, 90, 1 ], [ 6, 33, 0, 0, 60, 90, 0 ], [ 6, 33, 19, 0, 60, 90, 0 ], [ 17, 9, 19, 0, 60, 90, 0 ], [ 17, 9, 26, 0, 60, 90, 0 ], [ 17, 9, 26, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|lime|><|triangular prism|>\": 8, \"<|red|><|moon|>\": 9, \"<|blue|><|cylinder|>\": 21, \"<|olive|><|cylinder|>\": 25, \"<|violet|><|moon|>\": 23, \"<|green|><|moon|>\": 16}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the red moon on top of the olive 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|><|local-2-1|><|red|><|moon|><|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|><|local-1-1|><|olive|><|cylinder|><|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|><|local-0-1|><|violet|><|moon|><|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|><|local-1-1|><|lime|><|triangular prism|><|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|><|local-1-2|><|blue|><|cylinder|><|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|><|local-3-0|><|green|><|moon|><|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 <|1-8|><|local-2-1|> with height 9\nTarget Placement Location: <|olive|><|cylinder|> at <|4-2|><|local-1-1|> with height 25\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|4-2|><|local-1-1|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|1-8|>\", \"<|local-2-1|>\", 19, 0, 60, 90, 1]\nStep 2: [\"<|1-8|>\", \"<|local-2-1|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|1-8|>\", \"<|local-2-1|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|1-8|>\", \"<|local-2-1|>\", 19, 0, 60, 90, 0]\nStep 5: [\"<|4-2|>\", \"<|local-1-1|>\", 19, 0, 60, 90, 0]\nStep 6: [\"<|4-2|>\", \"<|local-1-1|>\", 26, 0, 60, 90, 0]\nStep 7: [\"<|4-2|>\", \"<|local-1-1|>\", 26, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 97, 97, 17, 0, 60, 90, 1 ], [ 97, 97, 0, 0, 60, 90, 1 ], [ 97, 97, 0, 0, 60, 90, 0 ], [ 97, 97, 17, 0, 60, 90, 0 ], [ 63, 95, 17, 0, 60, 90, 0 ], [ 63, 95, 30, 0, 60, 90, 0 ], [ 63, 95, 30, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|white|><|container|>\": 16, \"<|magenta|><|star|>\": 7, \"<|blue|><|triangular prism|>\": 28, \"<|green|><|container|>\": 30, \"<|black|><|moon|>\": 23}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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|><|local-1-3|><|white|><|container|><|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|><|local-3-2|><|black|><|moon|><|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|><|local-0-3|><|blue|><|triangular prism|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|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|><|local-3-3|><|green|><|container|><|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|><|local-1-1|><|magenta|><|star|>\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 <|24-24|><|local-1-1|> with height 7\nTarget Placement Location: <|green|><|container|> at <|15-23|><|local-3-3|> with height 30\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|15-23|><|local-3-3|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|magenta|><|star|> into <|green|><|container|>.\n\n</think>\n\nStep 1: [\"<|24-24|>\", \"<|local-1-1|>\", 17, 0, 60, 90, 1]\nStep 2: [\"<|24-24|>\", \"<|local-1-1|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|24-24|>\", \"<|local-1-1|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|24-24|>\", \"<|local-1-1|>\", 17, 0, 60, 90, 0]\nStep 5: [\"<|15-23|>\", \"<|local-3-3|>\", 17, 0, 60, 90, 0]\nStep 6: [\"<|15-23|>\", \"<|local-3-3|>\", 30, 0, 60, 90, 0]\nStep 7: [\"<|15-23|>\", \"<|local-3-3|>\", 30, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 71, 39, 24, 0, 60, 90, 1 ], [ 71, 39, 0, 0, 60, 90, 1 ], [ 71, 39, 0, 0, 60, 90, 0 ], [ 71, 39, 24, 0, 60, 90, 0 ], [ 4, 18, 24, 0, 60, 90, 0 ], [ 4, 18, 8, 0, 60, 90, 0 ], [ 4, 18, 8, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|teal|><|cylinder|>\": 14, \"<|maroon|><|triangular prism|>\": 17, \"<|maroon|><|star|>\": 3, \"<|teal|><|container|>\": 8, \"<|violet|><|container|>\": 21, \"<|black|><|container|>\": 28, \"<|cyan|><|star|>\": 2}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the teal 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|><|local-0-2|><|teal|><|container|><|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|><|local-0-2|><|maroon|><|triangular prism|><|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|><|local-1-3|><|maroon|><|star|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|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|><|local-3-3|><|violet|><|container|><|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|><|local-2-1|><|black|><|container|><|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|><|local-0-3|><|cyan|><|star|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|local-3-3|><|teal|><|cylinder|><|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: <|teal|><|cylinder|> found at <|17-9|><|local-3-3|> with height 14\nTarget Placement Location: <|teal|><|container|> at <|1-4|><|local-0-2|> with height 8\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|1-4|><|local-0-2|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|teal|><|cylinder|> into <|teal|><|container|>.\n\n</think>\n\nStep 1: [\"<|17-9|>\", \"<|local-3-3|>\", 24, 0, 60, 90, 1]\nStep 2: [\"<|17-9|>\", \"<|local-3-3|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|17-9|>\", \"<|local-3-3|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|17-9|>\", \"<|local-3-3|>\", 24, 0, 60, 90, 0]\nStep 5: [\"<|1-4|>\", \"<|local-0-2|>\", 24, 0, 60, 90, 0]\nStep 6: [\"<|1-4|>\", \"<|local-0-2|>\", 8, 0, 60, 90, 0]\nStep 7: [\"<|1-4|>\", \"<|local-0-2|>\", 8, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 75, 1, 18, 0, 60, 90, 1 ], [ 75, 1, 0, 0, 60, 90, 1 ], [ 75, 1, 0, 0, 60, 90, 0 ], [ 75, 1, 18, 0, 60, 90, 0 ], [ 29, 25, 18, 0, 60, 90, 0 ], [ 29, 25, 20, 0, 60, 90, 0 ], [ 29, 25, 20, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|yellow|><|star|>\": 8, \"<|white|><|container|>\": 8, \"<|violet|><|cylinder|>\": 24, \"<|purple|><|container|>\": 18, \"<|magenta|><|container|>\": 20}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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 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|><|local-1-0|><|white|><|container|><|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|><|local-3-3|><|purple|><|container|><|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|><|local-1-1|><|magenta|><|container|><|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|><|local-3-1|><|violet|><|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|><|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|><|local-3-1|><|yellow|><|star|><|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: <|yellow|><|star|> found at <|18-0|><|local-3-1|> with height 8\nTarget Placement Location: <|magenta|><|container|> at <|7-6|><|local-1-1|> with height 20\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|7-6|><|local-1-1|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|yellow|><|star|> into <|magenta|><|container|>.\n\n</think>\n\nStep 1: [\"<|18-0|>\", \"<|local-3-1|>\", 18, 0, 60, 90, 1]\nStep 2: [\"<|18-0|>\", \"<|local-3-1|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|18-0|>\", \"<|local-3-1|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|18-0|>\", \"<|local-3-1|>\", 18, 0, 60, 90, 0]\nStep 5: [\"<|7-6|>\", \"<|local-1-1|>\", 18, 0, 60, 90, 0]\nStep 6: [\"<|7-6|>\", \"<|local-1-1|>\", 20, 0, 60, 90, 0]\nStep 7: [\"<|7-6|>\", \"<|local-1-1|>\", 20, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 9, 54, 38, 0, 60, 90, 1 ], [ 9, 54, 0, 0, 60, 90, 1 ], [ 9, 54, 0, 0, 60, 90, 0 ], [ 9, 54, 38, 0, 60, 90, 0 ], [ 48, 36, 38, 0, 60, 90, 0 ], [ 48, 36, 27, 0, 60, 90, 0 ], [ 48, 36, 27, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|rose|><|star|>\": 9, \"<|lime|><|triangular prism|>\": 26, \"<|black|><|cylinder|>\": 28, \"<|white|><|star|>\": 28, \"<|green|><|triangular prism|>\": 6}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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 and the white star in sequence.\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|><|local-1-2|><|white|><|star|><|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|><|local-0-2|><|black|><|cylinder|>\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|><|local-0-0|><|lime|><|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|><|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|><|local-3-0|><|green|><|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|><|local-2-1|><|rose|><|star|>\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|><|star|> found at <|2-13|><|local-1-2|> with height 28\nTarget Placement Location: <|lime|><|triangular prism|> at <|12-9|><|local-0-0|> with height 26\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|12-9|><|local-0-0|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|2-13|>\", \"<|local-1-2|>\", 38, 0, 60, 90, 1]\nStep 2: [\"<|2-13|>\", \"<|local-1-2|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|2-13|>\", \"<|local-1-2|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|2-13|>\", \"<|local-1-2|>\", 38, 0, 60, 90, 0]\nStep 5: [\"<|12-9|>\", \"<|local-0-0|>\", 38, 0, 60, 90, 0]\nStep 6: [\"<|12-9|>\", \"<|local-0-0|>\", 27, 0, 60, 90, 0]\nStep 7: [\"<|12-9|>\", \"<|local-0-0|>\", 27, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 88, 38, 39, 0, 60, 90, 1 ], [ 88, 38, 0, 0, 60, 90, 1 ], [ 88, 38, 0, 0, 60, 90, 0 ], [ 88, 38, 39, 0, 60, 90, 0 ], [ 19, 60, 39, 0, 60, 90, 0 ], [ 19, 60, 30, 0, 60, 90, 0 ], [ 19, 60, 30, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|teal|><|triangular prism|>\": 29, \"<|maroon|><|container|>\": 30, \"<|purple|><|container|>\": 1, \"<|navy|><|container|>\": 13, \"<|violet|><|triangular prism|>\": 7, \"<|olive|><|star|>\": 10}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the teal triangular prism and place it into the maroon container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|local-3-1|><|olive|><|star|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|local-1-1|><|purple|><|container|><|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|><|local-3-0|><|maroon|><|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|><|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|><|local-2-1|><|violet|><|triangular prism|><|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|><|local-2-3|><|navy|><|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|><|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|><|local-0-2|><|teal|><|triangular prism|><|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|><|triangular prism|> found at <|22-9|><|local-0-2|> with height 29\nTarget Placement Location: <|maroon|><|container|> at <|4-15|><|local-3-0|> with height 30\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|4-15|><|local-3-0|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|teal|><|triangular prism|> into <|maroon|><|container|>.\n\n</think>\n\nStep 1: [\"<|22-9|>\", \"<|local-0-2|>\", 39, 0, 60, 90, 1]\nStep 2: [\"<|22-9|>\", \"<|local-0-2|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|22-9|>\", \"<|local-0-2|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|22-9|>\", \"<|local-0-2|>\", 39, 0, 60, 90, 0]\nStep 5: [\"<|4-15|>\", \"<|local-3-0|>\", 39, 0, 60, 90, 0]\nStep 6: [\"<|4-15|>\", \"<|local-3-0|>\", 30, 0, 60, 90, 0]\nStep 7: [\"<|4-15|>\", \"<|local-3-0|>\", 30, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 37, 85, 20, 0, 60, 90, 1 ], [ 37, 85, 0, 0, 60, 90, 1 ], [ 37, 85, 0, 0, 60, 90, 0 ], [ 37, 85, 20, 0, 60, 90, 0 ], [ 6, 25, 20, 0, 60, 90, 0 ], [ 6, 25, 20, 0, 60, 90, 0 ], [ 6, 25, 20, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|yellow|><|triangular prism|>\": 10, \"<|olive|><|moon|>\": 7, \"<|gray|><|cube|>\": 4, \"<|purple|><|cube|>\": 22, \"<|rose|><|cylinder|>\": 20, \"<|cyan|><|triangular prism|>\": 5, \"<|maroon|><|triangular prism|>\": 1}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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: Move the yellow triangular prism to [6, 25, 20]\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|local-3-2|><|cyan|><|triangular prism|><|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|><|local-2-1|><|rose|><|cylinder|><|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|><|local-2-2|><|gray|><|cube|><|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|><|local-2-3|><|purple|><|cube|><|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|><|local-1-1|><|yellow|><|triangular prism|><|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|><|local-0-2|><|olive|><|moon|><|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|><|local-3-3|><|maroon|><|triangular prism|><|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|><|triangular prism|> found at <|9-21|><|local-1-1|> with height 10\nTarget Placement Location: [6, 25] with height 20. Map [6, 25] (100x100) to a 25x25 grid, then a 4x4 subgrid. Result: <|1-6|><|local-2-1|>.\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|1-6|><|local-2-1|> at the same height as stage 4.\nStep 6: Move on top of target location at target_pos: <|1-6|><|local-2-1|> with height target_height.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|9-21|>\", \"<|local-1-1|>\", 20, 0, 60, 90, 1]\nStep 2: [\"<|9-21|>\", \"<|local-1-1|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|9-21|>\", \"<|local-1-1|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|9-21|>\", \"<|local-1-1|>\", 20, 0, 60, 90, 0]\nStep 5: [\"<|1-6|>\", \"<|local-2-1|>\", 20, 0, 60, 90, 0]\nStep 6: [\"<|1-6|>\", \"<|local-2-1|>\", 20, 0, 60, 90, 0]\nStep 7: [\"<|1-6|>\", \"<|local-2-1|>\", 20, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 20, 58, 28, 0, 60, 90, 1 ], [ 20, 58, 0, 0, 60, 90, 1 ], [ 20, 58, 0, 0, 60, 90, 0 ], [ 20, 58, 28, 0, 60, 90, 0 ], [ 46, 36, 28, 0, 60, 90, 0 ], [ 46, 36, 10, 0, 60, 90, 0 ], [ 46, 36, 10, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|white|><|container|>\": 10, \"<|teal|><|triangular prism|>\": 19, \"<|blue|><|star|>\": 15, \"<|azure|><|container|>\": 5, \"<|black|><|star|>\": 18, \"<|lime|><|cylinder|>\": 21}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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 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|><|local-3-1|><|teal|><|triangular prism|><|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|><|local-2-0|><|azure|><|container|><|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|><|local-0-2|><|black|><|star|><|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|><|local-2-1|><|blue|><|star|><|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|><|local-2-0|><|white|><|container|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|local-3-2|><|lime|><|cylinder|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|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 <|5-14|><|local-0-2|> with height 18\nTarget Placement Location: <|white|><|container|> at <|11-9|><|local-2-0|> with height 10\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|11-9|><|local-2-0|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|black|><|star|> into <|white|><|container|>.\n\n</think>\n\nStep 1: [\"<|5-14|>\", \"<|local-0-2|>\", 28, 0, 60, 90, 1]\nStep 2: [\"<|5-14|>\", \"<|local-0-2|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|5-14|>\", \"<|local-0-2|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|5-14|>\", \"<|local-0-2|>\", 28, 0, 60, 90, 0]\nStep 5: [\"<|11-9|>\", \"<|local-2-0|>\", 28, 0, 60, 90, 0]\nStep 6: [\"<|11-9|>\", \"<|local-2-0|>\", 10, 0, 60, 90, 0]\nStep 7: [\"<|11-9|>\", \"<|local-2-0|>\", 10, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 35, 35, 20, 0, 60, 90, 1 ], [ 35, 35, 0, 0, 60, 90, 1 ], [ 35, 35, 0, 0, 60, 90, 0 ], [ 35, 35, 20, 0, 60, 90, 0 ], [ 4, 33, 20, 0, 60, 90, 0 ], [ 4, 33, 2, 0, 60, 90, 0 ], [ 4, 33, 2, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|azure|><|cube|>\": 10, \"<|blue|><|container|>\": 11, \"<|magenta|><|container|>\": 2, \"<|purple|><|cube|>\": 29, \"<|cyan|><|container|>\": 7}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the azure cube and place it into the 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|><|local-0-1|><|magenta|><|container|><|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|><|local-3-3|><|azure|><|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|><|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|><|local-2-0|><|cyan|><|container|><|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|><|local-1-0|><|purple|><|cube|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|local-1-3|><|blue|><|container|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|azure|><|cube|> found at <|8-8|><|local-3-3|> with height 10\nTarget Placement Location: <|magenta|><|container|> at <|1-8|><|local-0-1|> with height 2\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|1-8|><|local-0-1|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|azure|><|cube|> into <|magenta|><|container|>.\n\n</think>\n\nStep 1: [\"<|8-8|>\", \"<|local-3-3|>\", 20, 0, 60, 90, 1]\nStep 2: [\"<|8-8|>\", \"<|local-3-3|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|8-8|>\", \"<|local-3-3|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|8-8|>\", \"<|local-3-3|>\", 20, 0, 60, 90, 0]\nStep 5: [\"<|1-8|>\", \"<|local-0-1|>\", 20, 0, 60, 90, 0]\nStep 6: [\"<|1-8|>\", \"<|local-0-1|>\", 2, 0, 60, 90, 0]\nStep 7: [\"<|1-8|>\", \"<|local-0-1|>\", 2, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 54, 91, 19, 0, 60, 90, 1 ], [ 54, 91, 0, 0, 60, 90, 1 ], [ 54, 91, 0, 0, 60, 90, 0 ], [ 54, 91, 19, 0, 60, 90, 0 ], [ 89, 62, 19, 0, 60, 90, 0 ], [ 89, 62, 8, 0, 60, 90, 0 ], [ 89, 62, 8, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|yellow|><|container|>\": 8, \"<|white|><|cylinder|>\": 9, \"<|silver|><|moon|>\": 30, \"<|white|><|container|>\": 5, \"<|navy|><|container|>\": 1}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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 cylinder 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|><|local-2-0|><|silver|><|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|><|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|><|local-1-2|><|white|><|container|><|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|><|local-0-1|><|navy|><|container|><|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|><|local-2-3|><|white|><|cylinder|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|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|><|local-1-2|><|yellow|><|container|><|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 <|13-22|><|local-2-3|> with height 9\nTarget Placement Location: <|yellow|><|container|> at <|22-15|><|local-1-2|> with height 8\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|22-15|><|local-1-2|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|white|><|cylinder|> into <|yellow|><|container|>.\n\n</think>\n\nStep 1: [\"<|13-22|>\", \"<|local-2-3|>\", 19, 0, 60, 90, 1]\nStep 2: [\"<|13-22|>\", \"<|local-2-3|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|13-22|>\", \"<|local-2-3|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|13-22|>\", \"<|local-2-3|>\", 19, 0, 60, 90, 0]\nStep 5: [\"<|22-15|>\", \"<|local-1-2|>\", 19, 0, 60, 90, 0]\nStep 6: [\"<|22-15|>\", \"<|local-1-2|>\", 8, 0, 60, 90, 0]\nStep 7: [\"<|22-15|>\", \"<|local-1-2|>\", 8, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 23, 52, 15, 0, 60, 90, 1 ], [ 23, 52, 0, 0, 60, 90, 1 ], [ 23, 52, 0, 0, 60, 90, 0 ], [ 23, 52, 15, 0, 60, 90, 0 ], [ 97, 29, 15, 0, 60, 90, 0 ], [ 97, 29, 19, 0, 60, 90, 0 ], [ 97, 29, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|blue|><|moon|>\": 27, \"<|green|><|cube|>\": 5, \"<|red|><|container|>\": 19, \"<|violet|><|container|>\": 13, \"<|white|><|star|>\": 6, \"<|blue|><|triangular prism|>\": 10, \"<|green|><|container|>\": 27}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Pick up the green cube and place it into the red container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|local-1-3|><|blue|><|moon|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|local-1-0|><|violet|><|container|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|local-0-2|><|blue|><|triangular prism|><|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|><|local-3-0|><|green|><|cube|><|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|><|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|><|local-2-2|><|green|><|container|><|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|><|local-0-2|><|white|><|star|><|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|><|local-1-1|><|red|><|container|><|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 <|5-13|><|local-3-0|> with height 5\nTarget Placement Location: <|red|><|container|> at <|24-7|><|local-1-1|> with height 19\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|24-7|><|local-1-1|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|green|><|cube|> into <|red|><|container|>.\n\n</think>\n\nStep 1: [\"<|5-13|>\", \"<|local-3-0|>\", 15, 0, 60, 90, 1]\nStep 2: [\"<|5-13|>\", \"<|local-3-0|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|5-13|>\", \"<|local-3-0|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|5-13|>\", \"<|local-3-0|>\", 15, 0, 60, 90, 0]\nStep 5: [\"<|24-7|>\", \"<|local-1-1|>\", 15, 0, 60, 90, 0]\nStep 6: [\"<|24-7|>\", \"<|local-1-1|>\", 19, 0, 60, 90, 0]\nStep 7: [\"<|24-7|>\", \"<|local-1-1|>\", 19, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 32, 94, 37, 0, 60, 90, 1 ], [ 32, 94, 0, 0, 60, 90, 1 ], [ 32, 94, 0, 0, 60, 90, 0 ], [ 32, 94, 37, 0, 60, 90, 0 ], [ 50, 79, 37, 0, 60, 90, 0 ], [ 50, 79, 24, 0, 60, 90, 0 ], [ 50, 79, 24, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|blue|><|moon|>\": 6, \"<|rose|><|container|>\": 6, \"<|maroon|><|moon|>\": 28, \"<|navy|><|moon|>\": 10, \"<|purple|><|moon|>\": 27, \"<|red|><|triangular prism|>\": 11, \"<|cyan|><|container|>\": 24}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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 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|><|local-1-0|><|blue|><|moon|><|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|><|local-2-0|><|red|><|triangular prism|><|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|><|local-0-2|><|purple|><|moon|><|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|><|local-3-2|><|rose|><|container|><|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|><|local-2-3|><|cyan|><|container|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|local-0-3|><|navy|><|moon|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|local-3-0|><|maroon|><|moon|><|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|><|moon|> found at <|8-23|><|local-0-2|> with height 27\nTarget Placement Location: <|cyan|><|container|> at <|12-19|><|local-2-3|> with height 24\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|12-19|><|local-2-3|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|purple|><|moon|> into <|cyan|><|container|>.\n\n</think>\n\nStep 1: [\"<|8-23|>\", \"<|local-0-2|>\", 37, 0, 60, 90, 1]\nStep 2: [\"<|8-23|>\", \"<|local-0-2|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|8-23|>\", \"<|local-0-2|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|8-23|>\", \"<|local-0-2|>\", 37, 0, 60, 90, 0]\nStep 5: [\"<|12-19|>\", \"<|local-2-3|>\", 37, 0, 60, 90, 0]\nStep 6: [\"<|12-19|>\", \"<|local-2-3|>\", 24, 0, 60, 90, 0]\nStep 7: [\"<|12-19|>\", \"<|local-2-3|>\", 24, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 39, 11, 40, 0, 60, 90, 1 ], [ 39, 11, 0, 0, 60, 90, 1 ], [ 39, 11, 0, 0, 60, 90, 0 ], [ 39, 11, 40, 0, 60, 90, 0 ], [ 10, 12, 40, 0, 60, 90, 0 ], [ 10, 12, 28, 0, 60, 90, 0 ], [ 10, 12, 28, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|gray|><|moon|>\": 25, \"<|black|><|cube|>\": 30, \"<|white|><|star|>\": 16, \"<|red|><|moon|>\": 16, \"<|gray|><|triangular prism|>\": 16, \"<|maroon|><|triangular prism|>\": 27}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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 maroon 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|><|local-2-0|><|white|><|star|><|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|><|local-2-0|><|maroon|><|triangular prism|><|2-4|><|local-2-0|><|gray|><|triangular prism|><|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|><|local-2-1|><|gray|><|moon|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|local-1-1|><|red|><|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|><|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|><|local-3-3|><|black|><|cube|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|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: <|black|><|cube|> found at <|9-2|><|local-3-3|> with height 30\nTarget Placement Location: <|maroon|><|triangular prism|> at <|2-3|><|local-2-0|> with height 27\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|2-3|><|local-2-0|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|9-2|>\", \"<|local-3-3|>\", 40, 0, 60, 90, 1]\nStep 2: [\"<|9-2|>\", \"<|local-3-3|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|9-2|>\", \"<|local-3-3|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|9-2|>\", \"<|local-3-3|>\", 40, 0, 60, 90, 0]\nStep 5: [\"<|2-3|>\", \"<|local-2-0|>\", 40, 0, 60, 90, 0]\nStep 6: [\"<|2-3|>\", \"<|local-2-0|>\", 28, 0, 60, 90, 0]\nStep 7: [\"<|2-3|>\", \"<|local-2-0|>\", 28, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 20, 43, 22, 0, 60, 90, 1 ], [ 20, 43, 0, 0, 60, 90, 1 ], [ 20, 43, 0, 0, 60, 90, 0 ], [ 20, 43, 22, 0, 60, 90, 0 ], [ 69, 40, 22, 0, 60, 90, 0 ], [ 69, 40, 16, 0, 60, 90, 0 ], [ 69, 40, 16, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|black|><|cube|>\": 12, \"<|green|><|moon|>\": 10, \"<|blue|><|triangular prism|>\": 25, \"<|magenta|><|container|>\": 19, \"<|azure|><|container|>\": 16}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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 cube and place it into the azure container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|local-0-3|><|magenta|><|container|><|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|><|local-0-3|><|black|><|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|><|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|><|local-1-0|><|green|><|moon|><|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|><|local-1-0|><|azure|><|container|><|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|><|local-0-1|><|blue|><|triangular prism|><|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: <|black|><|cube|> found at <|5-10|><|local-0-3|> with height 12\nTarget Placement Location: <|azure|><|container|> at <|17-10|><|local-1-0|> with height 16\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|17-10|><|local-1-0|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|black|><|cube|> into <|azure|><|container|>.\n\n</think>\n\nStep 1: [\"<|5-10|>\", \"<|local-0-3|>\", 22, 0, 60, 90, 1]\nStep 2: [\"<|5-10|>\", \"<|local-0-3|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|5-10|>\", \"<|local-0-3|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|5-10|>\", \"<|local-0-3|>\", 22, 0, 60, 90, 0]\nStep 5: [\"<|17-10|>\", \"<|local-1-0|>\", 22, 0, 60, 90, 0]\nStep 6: [\"<|17-10|>\", \"<|local-1-0|>\", 16, 0, 60, 90, 0]\nStep 7: [\"<|17-10|>\", \"<|local-1-0|>\", 16, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 52, 3, 26, 0, 60, 90, 1 ], [ 52, 3, 0, 0, 60, 90, 1 ], [ 52, 3, 0, 0, 60, 90, 0 ], [ 52, 3, 26, 0, 60, 90, 0 ], [ 28, 38, 26, 0, 60, 90, 0 ], [ 28, 38, 12, 0, 60, 90, 0 ], [ 28, 38, 12, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|rose|><|container|>\": 7, \"<|cyan|><|cube|>\": 11, \"<|silver|><|star|>\": 8, \"<|navy|><|triangular prism|>\": 17, \"<|black|><|moon|>\": 16, \"<|yellow|><|container|>\": 12}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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 moon and place it into the yellow container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|local-0-3|><|navy|><|triangular prism|><|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|><|local-0-2|><|yellow|><|container|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|local-0-3|><|black|><|moon|><|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|><|local-3-2|><|silver|><|star|><|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|><|local-0-3|><|cyan|><|cube|><|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|><|local-1-1|><|rose|><|container|><|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|><|moon|> found at <|13-0|><|local-0-3|> with height 16\nTarget Placement Location: <|yellow|><|container|> at <|7-9|><|local-0-2|> with height 12\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|7-9|><|local-0-2|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|black|><|moon|> into <|yellow|><|container|>.\n\n</think>\n\nStep 1: [\"<|13-0|>\", \"<|local-0-3|>\", 26, 0, 60, 90, 1]\nStep 2: [\"<|13-0|>\", \"<|local-0-3|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|13-0|>\", \"<|local-0-3|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|13-0|>\", \"<|local-0-3|>\", 26, 0, 60, 90, 0]\nStep 5: [\"<|7-9|>\", \"<|local-0-2|>\", 26, 0, 60, 90, 0]\nStep 6: [\"<|7-9|>\", \"<|local-0-2|>\", 12, 0, 60, 90, 0]\nStep 7: [\"<|7-9|>\", \"<|local-0-2|>\", 12, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 53, 46, 26, 0, 60, 90, 1 ], [ 53, 46, 0, 0, 60, 90, 1 ], [ 53, 46, 0, 0, 60, 90, 0 ], [ 53, 46, 26, 0, 60, 90, 0 ], [ 64, 43, 26, 0, 60, 90, 0 ], [ 64, 43, 5, 0, 60, 90, 0 ], [ 64, 43, 5, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|maroon|><|container|>\": 5, \"<|green|><|cube|>\": 4, \"<|azure|><|container|>\": 4, \"<|purple|><|triangular prism|>\": 9, \"<|gray|><|cylinder|>\": 16}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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 cylinder and place it into the maroon container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|local-2-2|><|azure|><|container|><|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|><|local-1-1|><|green|><|cube|><|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|><|local-1-2|><|gray|><|cylinder|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|local-0-3|><|maroon|><|container|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|local-1-1|><|purple|><|triangular prism|><|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: <|gray|><|cylinder|> found at <|13-11|><|local-1-2|> with height 16\nTarget Placement Location: <|maroon|><|container|> at <|16-10|><|local-0-3|> with height 5\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|16-10|><|local-0-3|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|gray|><|cylinder|> into <|maroon|><|container|>.\n\n</think>\n\nStep 1: [\"<|13-11|>\", \"<|local-1-2|>\", 26, 0, 60, 90, 1]\nStep 2: [\"<|13-11|>\", \"<|local-1-2|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|13-11|>\", \"<|local-1-2|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|13-11|>\", \"<|local-1-2|>\", 26, 0, 60, 90, 0]\nStep 5: [\"<|16-10|>\", \"<|local-0-3|>\", 26, 0, 60, 90, 0]\nStep 6: [\"<|16-10|>\", \"<|local-0-3|>\", 5, 0, 60, 90, 0]\nStep 7: [\"<|16-10|>\", \"<|local-0-3|>\", 5, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 54, 9, 40, 0, 60, 90, 1 ], [ 54, 9, 0, 0, 60, 90, 1 ], [ 54, 9, 0, 0, 60, 90, 0 ], [ 54, 9, 40, 0, 60, 90, 0 ], [ 95, 67, 40, 0, 60, 90, 0 ], [ 95, 67, 31, 0, 60, 90, 0 ], [ 95, 67, 31, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|blue|><|cube|>\": 24, \"<|maroon|><|star|>\": 30, \"<|lime|><|cylinder|>\": 18, \"<|cyan|><|moon|>\": 28, \"<|white|><|moon|>\": 20, \"<|silver|><|moon|>\": 6, \"<|green|><|moon|>\": 30}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the green moon on top of the 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|><|local-0-3|><|lime|><|cylinder|><|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|><|local-0-0|><|silver|><|moon|><|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|><|local-2-1|><|green|><|moon|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|local-2-0|><|cyan|><|moon|><|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|><|local-2-1|><|blue|><|cube|><|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|><|local-3-3|><|maroon|><|star|><|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|><|local-1-0|><|white|><|moon|><|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|><|moon|> found at <|13-2|><|local-2-1|> with height 30\nTarget Placement Location: <|maroon|><|star|> at <|23-16|><|local-3-3|> with height 30\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|23-16|><|local-3-3|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|13-2|>\", \"<|local-2-1|>\", 40, 0, 60, 90, 1]\nStep 2: [\"<|13-2|>\", \"<|local-2-1|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|13-2|>\", \"<|local-2-1|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|13-2|>\", \"<|local-2-1|>\", 40, 0, 60, 90, 0]\nStep 5: [\"<|23-16|>\", \"<|local-3-3|>\", 40, 0, 60, 90, 0]\nStep 6: [\"<|23-16|>\", \"<|local-3-3|>\", 31, 0, 60, 90, 0]\nStep 7: [\"<|23-16|>\", \"<|local-3-3|>\", 31, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 45, 85, 37, 0, 60, 90, 1 ], [ 45, 85, 0, 0, 60, 90, 1 ], [ 45, 85, 0, 0, 60, 90, 0 ], [ 45, 85, 37, 0, 60, 90, 0 ], [ 83, 25, 37, 0, 60, 90, 0 ], [ 83, 25, 2, 0, 60, 90, 0 ], [ 83, 25, 2, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|maroon|><|star|>\": 20, \"<|green|><|star|>\": 20, \"<|silver|><|cylinder|>\": 30, \"<|black|><|star|>\": 10, \"<|gray|><|moon|>\": 1, \"<|rose|><|triangular prism|>\": 27}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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 triangular prism 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|><|local-3-1|><|maroon|><|star|><|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|><|local-1-3|><|silver|><|cylinder|><|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|><|local-1-0|><|green|><|star|>\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|><|local-1-1|><|rose|><|triangular prism|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|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|><|local-3-1|><|gray|><|moon|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|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|><|local-2-2|><|black|><|star|><|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 <|11-21|><|local-1-1|> with height 27\nTarget Placement Location: <|gray|><|moon|> at <|20-6|><|local-3-1|> with height 1\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|20-6|><|local-3-1|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|11-21|>\", \"<|local-1-1|>\", 37, 0, 60, 90, 1]\nStep 2: [\"<|11-21|>\", \"<|local-1-1|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|11-21|>\", \"<|local-1-1|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|11-21|>\", \"<|local-1-1|>\", 37, 0, 60, 90, 0]\nStep 5: [\"<|20-6|>\", \"<|local-3-1|>\", 37, 0, 60, 90, 0]\nStep 6: [\"<|20-6|>\", \"<|local-3-1|>\", 2, 0, 60, 90, 0]\nStep 7: [\"<|20-6|>\", \"<|local-3-1|>\", 2, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 1, 85, 30, 0, 60, 90, 1 ], [ 1, 85, 0, 0, 60, 90, 1 ], [ 1, 85, 0, 0, 60, 90, 0 ], [ 1, 85, 30, 0, 60, 90, 0 ], [ 84, 92, 30, 0, 60, 90, 0 ], [ 84, 92, 6, 0, 60, 90, 0 ], [ 84, 92, 6, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|black|><|container|>\": 18, \"<|navy|><|cube|>\": 12, \"<|cyan|><|container|>\": 7, \"<|white|><|container|>\": 6, \"<|gray|><|triangular prism|>\": 4, \"<|purple|><|cube|>\": 30, \"<|maroon|><|triangular prism|>\": 20}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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 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|><|local-1-1|><|maroon|><|triangular prism|><|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|><|local-1-0|><|purple|><|cube|><|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|><|local-3-1|><|gray|><|triangular prism|><|7-4|><|empty|><|7-5|><|local-2-2|><|black|><|container|><|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|><|local-3-0|><|cyan|><|container|><|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|><|local-3-1|><|navy|><|cube|><|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|><|local-0-0|><|white|><|container|><|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 <|0-21|><|local-1-1|> with height 20\nTarget Placement Location: <|white|><|container|> at <|21-23|><|local-0-0|> with height 6\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|21-23|><|local-0-0|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|maroon|><|triangular prism|> into <|white|><|container|>.\n\n</think>\n\nStep 1: [\"<|0-21|>\", \"<|local-1-1|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|0-21|>\", \"<|local-1-1|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|0-21|>\", \"<|local-1-1|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|0-21|>\", \"<|local-1-1|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|21-23|>\", \"<|local-0-0|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|21-23|>\", \"<|local-0-0|>\", 6, 0, 60, 90, 0]\nStep 7: [\"<|21-23|>\", \"<|local-0-0|>\", 6, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 31, 62, 37, 0, 60, 90, 1 ], [ 31, 62, 0, 0, 60, 90, 1 ], [ 31, 62, 0, 0, 60, 90, 0 ], [ 31, 62, 37, 0, 60, 90, 0 ], [ 24, 7, 37, 0, 60, 90, 0 ], [ 24, 7, 16, 0, 60, 90, 0 ], [ 24, 7, 16, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|cyan|><|star|>\": 27, \"<|rose|><|star|>\": 16, \"<|yellow|><|moon|>\": 9, \"<|rose|><|moon|>\": 21, \"<|teal|><|star|>\": 12, \"<|blue|><|cylinder|>\": 15, \"<|lime|><|moon|>\": 30}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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 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|><|local-3-3|><|rose|><|moon|><|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|><|local-0-3|><|blue|><|cylinder|><|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|><|local-3-2|><|cyan|><|star|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|local-1-3|><|rose|><|star|><|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|><|local-2-2|><|yellow|><|moon|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|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|><|local-3-1|><|teal|><|star|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|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|><|local-1-2|><|lime|><|moon|><|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 <|7-15|><|local-3-2|> with height 27\nTarget Placement Location: <|blue|><|cylinder|> at <|6-1|><|local-0-3|> with height 15\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|6-1|><|local-0-3|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|7-15|>\", \"<|local-3-2|>\", 37, 0, 60, 90, 1]\nStep 2: [\"<|7-15|>\", \"<|local-3-2|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|7-15|>\", \"<|local-3-2|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|7-15|>\", \"<|local-3-2|>\", 37, 0, 60, 90, 0]\nStep 5: [\"<|6-1|>\", \"<|local-0-3|>\", 37, 0, 60, 90, 0]\nStep 6: [\"<|6-1|>\", \"<|local-0-3|>\", 16, 0, 60, 90, 0]\nStep 7: [\"<|6-1|>\", \"<|local-0-3|>\", 16, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 46, 59, 30, 0, 60, 90, 1 ], [ 46, 59, 0, 0, 60, 90, 1 ], [ 46, 59, 0, 0, 60, 90, 0 ], [ 46, 59, 30, 0, 60, 90, 0 ], [ 94, 22, 30, 0, 60, 90, 0 ], [ 94, 22, 26, 0, 60, 90, 0 ], [ 94, 22, 26, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|lime|><|container|>\": 26, \"<|olive|><|container|>\": 19, \"<|black|><|moon|>\": 20, \"<|magenta|><|star|>\": 18}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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 moon and place it into the lime container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|local-3-3|><|olive|><|container|><|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|><|local-2-3|><|black|><|moon|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|local-3-0|><|magenta|><|star|><|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|><|local-2-2|><|lime|><|container|><|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|><|moon|> found at <|11-14|><|local-2-3|> with height 20\nTarget Placement Location: <|lime|><|container|> at <|23-5|><|local-2-2|> with height 26\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|23-5|><|local-2-2|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|black|><|moon|> into <|lime|><|container|>.\n\n</think>\n\nStep 1: [\"<|11-14|>\", \"<|local-2-3|>\", 30, 0, 60, 90, 1]\nStep 2: [\"<|11-14|>\", \"<|local-2-3|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|11-14|>\", \"<|local-2-3|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|11-14|>\", \"<|local-2-3|>\", 30, 0, 60, 90, 0]\nStep 5: [\"<|23-5|>\", \"<|local-2-2|>\", 30, 0, 60, 90, 0]\nStep 6: [\"<|23-5|>\", \"<|local-2-2|>\", 26, 0, 60, 90, 0]\nStep 7: [\"<|23-5|>\", \"<|local-2-2|>\", 26, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 48, 26, 29, 0, 60, 90, 1 ], [ 48, 26, 0, 0, 60, 90, 1 ], [ 48, 26, 0, 0, 60, 90, 0 ], [ 48, 26, 29, 0, 60, 90, 0 ], [ 17, 35, 29, 0, 60, 90, 0 ], [ 17, 35, 12, 0, 60, 90, 0 ], [ 17, 35, 12, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|green|><|container|>\": 12, \"<|violet|><|triangular prism|>\": 19, \"<|rose|><|cylinder|>\": 22, \"<|silver|><|container|>\": 21, \"<|black|><|cube|>\": 2}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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 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|><|local-0-3|><|rose|><|cylinder|><|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|><|local-1-3|><|green|><|container|><|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|><|local-1-1|><|black|><|cube|><|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|><|local-0-2|><|violet|><|triangular prism|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|local-1-0|><|silver|><|container|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\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 <|12-6|><|local-0-2|> with height 19\nTarget Placement Location: <|green|><|container|> at <|4-8|><|local-1-3|> with height 12\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|4-8|><|local-1-3|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|violet|><|triangular prism|> into <|green|><|container|>.\n\n</think>\n\nStep 1: [\"<|12-6|>\", \"<|local-0-2|>\", 29, 0, 60, 90, 1]\nStep 2: [\"<|12-6|>\", \"<|local-0-2|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|12-6|>\", \"<|local-0-2|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|12-6|>\", \"<|local-0-2|>\", 29, 0, 60, 90, 0]\nStep 5: [\"<|4-8|>\", \"<|local-1-3|>\", 29, 0, 60, 90, 0]\nStep 6: [\"<|4-8|>\", \"<|local-1-3|>\", 12, 0, 60, 90, 0]\nStep 7: [\"<|4-8|>\", \"<|local-1-3|>\", 12, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 94, 69, 32, 0, 60, 90, 1 ], [ 94, 69, 0, 0, 60, 90, 1 ], [ 94, 69, 0, 0, 60, 90, 0 ], [ 94, 69, 32, 0, 60, 90, 0 ], [ 94, 46, 32, 0, 60, 90, 0 ], [ 94, 46, 13, 0, 60, 90, 0 ], [ 94, 46, 13, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|violet|><|triangular prism|>\": 16, \"<|magenta|><|moon|>\": 15, \"<|lime|><|star|>\": 25, \"<|navy|><|star|>\": 12, \"<|magenta|><|star|>\": 2, \"<|azure|><|moon|>\": 22, \"<|maroon|><|cube|>\": 26}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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 and the azure moon in sequence.\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|><|local-1-1|><|magenta|><|moon|><|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|><|local-0-1|><|violet|><|triangular prism|><|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|><|local-3-0|><|magenta|><|star|><|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|><|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|><|local-1-2|><|lime|><|star|><|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|><|local-2-2|><|navy|><|star|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|local-2-1|><|azure|><|moon|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|local-1-1|><|maroon|><|cube|>\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 <|23-17|><|local-2-1|> with height 22\nTarget Placement Location: <|navy|><|star|> at <|23-11|><|local-2-2|> with height 12\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|23-11|><|local-2-2|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|23-17|>\", \"<|local-2-1|>\", 32, 0, 60, 90, 1]\nStep 2: [\"<|23-17|>\", \"<|local-2-1|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|23-17|>\", \"<|local-2-1|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|23-17|>\", \"<|local-2-1|>\", 32, 0, 60, 90, 0]\nStep 5: [\"<|23-11|>\", \"<|local-2-2|>\", 32, 0, 60, 90, 0]\nStep 6: [\"<|23-11|>\", \"<|local-2-2|>\", 13, 0, 60, 90, 0]\nStep 7: [\"<|23-11|>\", \"<|local-2-2|>\", 13, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 36, 27, 15, 0, 60, 90, 1 ], [ 36, 27, 0, 0, 60, 90, 1 ], [ 36, 27, 0, 0, 60, 90, 0 ], [ 36, 27, 12, 0, 60, 90, 0 ], [ 87, 58, 15, 0, 60, 90, 0 ], [ 87, 58, 17, 0, 60, 90, 0 ], [ 87, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|lime|><|container|>\": 17, \"<|black|><|container|>\": 21, \"<|maroon|><|triangular prism|>\": 2, \"<|violet|><|cylinder|>\": 5, \"<|green|><|container|>\": 3}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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 triangular prism and place it into the lime container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|local-1-2|><|violet|><|cylinder|><|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|><|local-0-3|><|maroon|><|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|><|local-3-1|><|black|><|container|><|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|><|local-1-3|><|green|><|container|><|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|><|local-3-2|><|lime|><|container|><|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 <|9-6|><|local-0-3|> with height 2\nTarget Placement Location: <|lime|><|container|> at <|21-14|><|local-3-2|> with height 17\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|21-14|><|local-3-2|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|maroon|><|triangular prism|> into <|lime|><|container|>.\n\n</think>\n\nStep 1: [\"<|9-6|>\", \"<|local-0-3|>\", 15, 0, 60, 90, 1]\nStep 2: [\"<|9-6|>\", \"<|local-0-3|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|9-6|>\", \"<|local-0-3|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|9-6|>\", \"<|local-0-3|>\", 12, 0, 60, 90, 0]\nStep 5: [\"<|21-14|>\", \"<|local-3-2|>\", 15, 0, 60, 90, 0]\nStep 6: [\"<|21-14|>\", \"<|local-3-2|>\", 17, 0, 60, 90, 0]\nStep 7: [\"<|21-14|>\", \"<|local-3-2|>\", 17, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 29, 57, 18, 0, 60, 90, 1 ], [ 29, 57, 0, 0, 60, 90, 1 ], [ 29, 57, 0, 0, 60, 90, 0 ], [ 29, 57, 18, 0, 60, 90, 0 ], [ 71, 92, 18, 0, 60, 90, 0 ], [ 71, 92, 8, 0, 60, 90, 0 ], [ 71, 92, 8, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|azure|><|cube|>\": 25, \"<|lime|><|cylinder|>\": 21, \"<|olive|><|star|>\": 7, \"<|silver|><|cylinder|>\": 8, \"<|azure|><|moon|>\": 11, \"<|navy|><|cylinder|>\": 22, \"<|gray|><|moon|>\": 20}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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 cylinder on top of the olive star\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|local-1-1|><|lime|><|cylinder|><|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|><|local-1-3|><|gray|><|moon|><|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|><|local-2-0|><|azure|><|moon|><|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|><|local-3-0|><|azure|><|cube|><|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|><|local-1-1|><|silver|><|cylinder|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|local-3-0|><|olive|><|star|><|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|><|local-3-0|><|navy|><|cylinder|><|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 <|7-14|><|local-1-1|> with height 8\nTarget Placement Location: <|olive|><|star|> at <|17-23|><|local-3-0|> with height 7\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|17-23|><|local-3-0|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|7-14|>\", \"<|local-1-1|>\", 18, 0, 60, 90, 1]\nStep 2: [\"<|7-14|>\", \"<|local-1-1|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|7-14|>\", \"<|local-1-1|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|7-14|>\", \"<|local-1-1|>\", 18, 0, 60, 90, 0]\nStep 5: [\"<|17-23|>\", \"<|local-3-0|>\", 18, 0, 60, 90, 0]\nStep 6: [\"<|17-23|>\", \"<|local-3-0|>\", 8, 0, 60, 90, 0]\nStep 7: [\"<|17-23|>\", \"<|local-3-0|>\", 8, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 86, 59, 15, 0, 60, 90, 1 ], [ 86, 59, 0, 0, 60, 90, 1 ], [ 86, 59, 0, 0, 60, 90, 0 ], [ 86, 59, 15, 0, 60, 90, 0 ], [ 6, 8, 15, 0, 60, 90, 0 ], [ 6, 8, 26, 0, 60, 90, 0 ], [ 6, 8, 26, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|gray|><|cylinder|>\": 25, \"<|rose|><|moon|>\": 9, \"<|green|><|moon|>\": 14, \"<|green|><|cylinder|>\": 18, \"<|violet|><|triangular prism|>\": 5}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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 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|><|local-2-0|><|gray|><|cylinder|><|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|><|local-2-1|><|green|><|cylinder|><|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|><|local-3-1|><|rose|><|moon|><|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|><|local-3-2|><|green|><|moon|><|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|><|local-2-3|><|violet|><|triangular prism|><|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|><|triangular prism|> found at <|21-14|><|local-2-3|> with height 5\nTarget Placement Location: <|gray|><|cylinder|> at <|1-2|><|local-2-0|> with height 25\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|1-2|><|local-2-0|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|21-14|>\", \"<|local-2-3|>\", 15, 0, 60, 90, 1]\nStep 2: [\"<|21-14|>\", \"<|local-2-3|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|21-14|>\", \"<|local-2-3|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|21-14|>\", \"<|local-2-3|>\", 15, 0, 60, 90, 0]\nStep 5: [\"<|1-2|>\", \"<|local-2-0|>\", 15, 0, 60, 90, 0]\nStep 6: [\"<|1-2|>\", \"<|local-2-0|>\", 26, 0, 60, 90, 0]\nStep 7: [\"<|1-2|>\", \"<|local-2-0|>\", 26, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 44, 12, 16, 0, 60, 90, 1 ], [ 44, 12, 0, 0, 60, 90, 1 ], [ 44, 12, 0, 0, 60, 90, 0 ], [ 44, 12, 16, 0, 60, 90, 0 ], [ 44, 54, 16, 0, 60, 90, 0 ], [ 44, 54, 17, 0, 60, 90, 0 ], [ 44, 54, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|silver|><|moon|>\": 3, \"<|green|><|cylinder|>\": 25, \"<|cyan|><|cylinder|>\": 16, \"<|lime|><|star|>\": 6, \"<|yellow|><|cube|>\": 28}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the cyan cylinder and the lime star in sequence.\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|><|local-2-3|><|silver|><|moon|><|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|><|local-0-0|><|lime|><|star|><|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|><|local-0-2|><|cyan|><|cylinder|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|local-2-0|><|green|><|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|><|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|><|local-3-1|><|yellow|><|cube|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|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 <|11-3|><|local-0-0|> with height 6\nTarget Placement Location: <|cyan|><|cylinder|> at <|11-13|><|local-0-2|> with height 16\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|11-13|><|local-0-2|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|11-3|>\", \"<|local-0-0|>\", 16, 0, 60, 90, 1]\nStep 2: [\"<|11-3|>\", \"<|local-0-0|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|11-3|>\", \"<|local-0-0|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|11-3|>\", \"<|local-0-0|>\", 16, 0, 60, 90, 0]\nStep 5: [\"<|11-13|>\", \"<|local-0-2|>\", 16, 0, 60, 90, 0]\nStep 6: [\"<|11-13|>\", \"<|local-0-2|>\", 17, 0, 60, 90, 0]\nStep 7: [\"<|11-13|>\", \"<|local-0-2|>\", 17, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 0, 27, 23, 0, 60, 90, 1 ], [ 0, 27, 0, 0, 60, 90, 1 ], [ 0, 27, 0, 0, 60, 90, 0 ], [ 0, 27, 23, 0, 60, 90, 0 ], [ 41, 66, 23, 0, 60, 90, 0 ], [ 41, 66, 28, 0, 60, 90, 0 ], [ 41, 66, 28, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|rose|><|container|>\": 28, \"<|purple|><|container|>\": 4, \"<|violet|><|star|>\": 13, \"<|navy|><|triangular prism|>\": 13}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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 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|><|local-0-3|><|violet|><|star|><|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|><|local-0-0|><|purple|><|container|><|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|><|local-1-2|><|rose|><|container|><|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|><|local-3-2|><|navy|><|triangular prism|><|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: <|violet|><|star|> found at <|0-6|><|local-0-3|> with height 13\nTarget Placement Location: <|rose|><|container|> at <|10-16|><|local-1-2|> with height 28\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|10-16|><|local-1-2|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|violet|><|star|> into <|rose|><|container|>.\n\n</think>\n\nStep 1: [\"<|0-6|>\", \"<|local-0-3|>\", 23, 0, 60, 90, 1]\nStep 2: [\"<|0-6|>\", \"<|local-0-3|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|0-6|>\", \"<|local-0-3|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|0-6|>\", \"<|local-0-3|>\", 23, 0, 60, 90, 0]\nStep 5: [\"<|10-16|>\", \"<|local-1-2|>\", 23, 0, 60, 90, 0]\nStep 6: [\"<|10-16|>\", \"<|local-1-2|>\", 28, 0, 60, 90, 0]\nStep 7: [\"<|10-16|>\", \"<|local-1-2|>\", 28, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 47, 8, 15, 0, 60, 90, 1 ], [ 47, 8, 0, 0, 60, 90, 1 ], [ 47, 8, 0, 0, 60, 90, 0 ], [ 47, 8, 15, 0, 60, 90, 0 ], [ 53, 47, 15, 0, 60, 90, 0 ], [ 53, 47, 16, 0, 60, 90, 0 ], [ 53, 47, 16, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|magenta|><|cylinder|>\": 3, \"<|red|><|moon|>\": 23, \"<|purple|><|cylinder|>\": 13, \"<|teal|><|star|>\": 5, \"<|magenta|><|cube|>\": 26, \"<|purple|><|star|>\": 16, \"<|green|><|moon|>\": 9}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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: Move the teal star to [53, 47, 16]\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|><|local-1-3|><|magenta|><|cylinder|><|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|><|local-0-3|><|green|><|moon|><|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|><|local-0-1|><|purple|><|cylinder|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|local-2-0|><|magenta|><|cube|><|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|><|local-3-0|><|teal|><|star|><|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|><|local-1-3|><|purple|><|star|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|local-2-3|><|red|><|moon|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|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: <|teal|><|star|> found at <|11-2|><|local-3-0|> with height 5\nTarget Placement Location: [53, 47] with height 16. Map [53, 47] (100x100) to a 25x25 grid, then a 4x4 subgrid. Result: <|13-11|><|local-1-3|>.\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|13-11|><|local-1-3|> at the same height as stage 4.\nStep 6: Move on top of target location at target_pos: <|13-11|><|local-1-3|> with height target_height.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|11-2|>\", \"<|local-3-0|>\", 15, 0, 60, 90, 1]\nStep 2: [\"<|11-2|>\", \"<|local-3-0|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|11-2|>\", \"<|local-3-0|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|11-2|>\", \"<|local-3-0|>\", 15, 0, 60, 90, 0]\nStep 5: [\"<|13-11|>\", \"<|local-1-3|>\", 15, 0, 60, 90, 0]\nStep 6: [\"<|13-11|>\", \"<|local-1-3|>\", 16, 0, 60, 90, 0]\nStep 7: [\"<|13-11|>\", \"<|local-1-3|>\", 16, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 50, 40, 26, 0, 60, 90, 1 ], [ 50, 40, 0, 0, 60, 90, 1 ], [ 50, 40, 0, 0, 60, 90, 0 ], [ 50, 40, 26, 0, 60, 90, 0 ], [ 8, 4, 26, 0, 60, 90, 0 ], [ 8, 4, 4, 0, 60, 90, 0 ], [ 8, 4, 4, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|gray|><|container|>\": 4, \"<|olive|><|cube|>\": 19, \"<|azure|><|container|>\": 4, \"<|black|><|star|>\": 16, \"<|cyan|><|moon|>\": 26, \"<|maroon|><|cylinder|>\": 18}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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 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|><|local-0-0|><|azure|><|container|><|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|><|local-1-1|><|olive|><|cube|><|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|><|local-3-3|><|cyan|><|moon|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|local-2-0|><|gray|><|container|><|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|><|local-2-0|><|black|><|star|><|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|><|local-1-1|><|maroon|><|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|><|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 <|12-10|><|local-2-0|> with height 16\nTarget Placement Location: <|azure|><|container|> at <|2-1|><|local-0-0|> with height 4\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|2-1|><|local-0-0|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|black|><|star|> into <|azure|><|container|>.\n\n</think>\n\nStep 1: [\"<|12-10|>\", \"<|local-2-0|>\", 26, 0, 60, 90, 1]\nStep 2: [\"<|12-10|>\", \"<|local-2-0|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|12-10|>\", \"<|local-2-0|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|12-10|>\", \"<|local-2-0|>\", 26, 0, 60, 90, 0]\nStep 5: [\"<|2-1|>\", \"<|local-0-0|>\", 26, 0, 60, 90, 0]\nStep 6: [\"<|2-1|>\", \"<|local-0-0|>\", 4, 0, 60, 90, 0]\nStep 7: [\"<|2-1|>\", \"<|local-0-0|>\", 4, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 32, 28, 24, 0, 60, 90, 1 ], [ 32, 28, 0, 0, 60, 90, 1 ], [ 32, 28, 0, 0, 60, 90, 0 ], [ 32, 28, 24, 0, 60, 90, 0 ], [ 33, 70, 24, 0, 60, 90, 0 ], [ 33, 70, 3, 0, 60, 90, 0 ], [ 33, 70, 3, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|teal|><|star|>\": 23, \"<|teal|><|cube|>\": 2, \"<|lime|><|moon|>\": 14, \"<|blue|><|moon|>\": 24, \"<|blue|><|star|>\": 1, \"<|white|><|star|>\": 9}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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 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|><|local-3-1|><|blue|><|star|><|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|><|local-0-0|><|lime|><|moon|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|local-1-2|><|teal|><|cube|><|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|><|local-0-0|><|blue|><|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|><|local-2-3|><|white|><|star|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|local-0-1|><|teal|><|star|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\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 <|8-7|><|local-0-0|> with height 14\nTarget Placement Location: <|teal|><|cube|> at <|8-17|><|local-1-2|> with height 2\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|8-17|><|local-1-2|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|8-7|>\", \"<|local-0-0|>\", 24, 0, 60, 90, 1]\nStep 2: [\"<|8-7|>\", \"<|local-0-0|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|8-7|>\", \"<|local-0-0|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|8-7|>\", \"<|local-0-0|>\", 24, 0, 60, 90, 0]\nStep 5: [\"<|8-17|>\", \"<|local-1-2|>\", 24, 0, 60, 90, 0]\nStep 6: [\"<|8-17|>\", \"<|local-1-2|>\", 3, 0, 60, 90, 0]\nStep 7: [\"<|8-17|>\", \"<|local-1-2|>\", 3, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 29, 35, 28, 0, 60, 90, 1 ], [ 29, 35, 0, 0, 60, 90, 1 ], [ 29, 35, 0, 0, 60, 90, 0 ], [ 29, 35, 28, 0, 60, 90, 0 ], [ 40, 83, 28, 0, 60, 90, 0 ], [ 40, 83, 29, 0, 60, 90, 0 ], [ 40, 83, 29, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|purple|><|container|>\": 4, \"<|lime|><|cube|>\": 23, \"<|teal|><|moon|>\": 8, \"<|navy|><|container|>\": 29, \"<|blue|><|star|>\": 17, \"<|magenta|><|cylinder|>\": 18}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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 cylinder 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|><|local-1-3|><|magenta|><|cylinder|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|local-2-1|><|purple|><|container|><|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|><|local-0-3|><|navy|><|container|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|local-1-3|><|blue|><|star|><|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|><|local-1-3|><|teal|><|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|><|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|><|local-1-2|><|lime|><|cube|><|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|><|cylinder|> found at <|7-8|><|local-1-3|> with height 18\nTarget Placement Location: <|navy|><|container|> at <|10-20|><|local-0-3|> with height 29\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|10-20|><|local-0-3|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|magenta|><|cylinder|> into <|navy|><|container|>.\n\n</think>\n\nStep 1: [\"<|7-8|>\", \"<|local-1-3|>\", 28, 0, 60, 90, 1]\nStep 2: [\"<|7-8|>\", \"<|local-1-3|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|7-8|>\", \"<|local-1-3|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|7-8|>\", \"<|local-1-3|>\", 28, 0, 60, 90, 0]\nStep 5: [\"<|10-20|>\", \"<|local-0-3|>\", 28, 0, 60, 90, 0]\nStep 6: [\"<|10-20|>\", \"<|local-0-3|>\", 29, 0, 60, 90, 0]\nStep 7: [\"<|10-20|>\", \"<|local-0-3|>\", 29, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 5, 79, 39, 0, 60, 90, 1 ], [ 5, 79, 0, 0, 60, 90, 1 ], [ 5, 79, 0, 0, 60, 90, 0 ], [ 5, 79, 39, 0, 60, 90, 0 ], [ 73, 89, 39, 0, 60, 90, 0 ], [ 73, 89, 7, 0, 60, 90, 0 ], [ 73, 89, 7, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|white|><|triangular prism|>\": 29, \"<|purple|><|cube|>\": 6, \"<|green|><|triangular prism|>\": 10, \"<|white|><|cube|>\": 19, \"<|cyan|><|triangular prism|>\": 1}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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 and the white triangular prism in sequence.\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|><|local-1-3|><|white|><|triangular prism|><|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|><|local-3-0|><|white|><|cube|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|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|><|local-0-2|><|cyan|><|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|><|local-1-1|><|purple|><|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|><|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|><|local-0-0|><|green|><|triangular prism|><|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 <|1-19|><|local-1-3|> with height 29\nTarget Placement Location: <|purple|><|cube|> at <|18-22|><|local-1-1|> with height 6\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|18-22|><|local-1-1|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|1-19|>\", \"<|local-1-3|>\", 39, 0, 60, 90, 1]\nStep 2: [\"<|1-19|>\", \"<|local-1-3|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|1-19|>\", \"<|local-1-3|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|1-19|>\", \"<|local-1-3|>\", 39, 0, 60, 90, 0]\nStep 5: [\"<|18-22|>\", \"<|local-1-1|>\", 39, 0, 60, 90, 0]\nStep 6: [\"<|18-22|>\", \"<|local-1-1|>\", 7, 0, 60, 90, 0]\nStep 7: [\"<|18-22|>\", \"<|local-1-1|>\", 7, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 24, 50, 11, 0, 60, 90, 1 ], [ 24, 50, 0, 0, 60, 90, 1 ], [ 24, 50, 0, 0, 60, 90, 0 ], [ 24, 50, 14, 0, 60, 90, 0 ], [ 91, 77, 13, 0, 60, 90, 0 ], [ 91, 77, 19, 0, 60, 90, 0 ], [ 91, 77, 19, 0, 60, 90, 1 ] ]

[ { "content": "You are a spatial reasoning assistant for a Franka Panda robot with a parallel gripper. Your task is to generate precise action sequences to accomplish object manipulation tasks.\n\n## INPUT ENVIRONMENT:\n- The workspace is a table surface represented as a 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|olive|><|cube|>\": 30, \"<|blue|><|cylinder|>\": 18, \"<|maroon|><|cube|>\": 14, \"<|olive|><|cylinder|>\": 28, \"<|yellow|><|star|>\": 1}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\n- Gripper state is 0 for close and 1 for open.\n- The allowed range of Z is [0, 100].\n- Roll, Pitch, and Yaw are the 3D discrete orientations of the gripper in the environment, represented as discrete\nEuler Angles.\n- The allowed range of Roll, Pitch, and Yaw is [0, 120] and each unit represents 3 degrees.\n\nTASK: Stack the yellow star on top of the blue 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|><|local-0-2|><|yellow|><|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|><|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|><|local-0-1|><|olive|><|cube|><|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|><|local-3-1|><|maroon|><|cube|><|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|><|local-3-2|><|olive|><|cylinder|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|empty|><|17-16|><|empty|><|17-17|><|empty|><|17-18|><|empty|><|17-19|><|empty|><|17-20|><|empty|><|17-21|><|empty|><|17-22|><|empty|><|17-23|><|empty|><|17-24|><|empty|>\n<|18-0|><|empty|><|18-1|><|empty|><|18-2|><|empty|><|18-3|><|empty|><|18-4|><|empty|><|18-5|><|empty|><|18-6|><|empty|><|18-7|><|empty|><|18-8|><|empty|><|18-9|><|empty|><|18-10|><|empty|><|18-11|><|empty|><|18-12|><|empty|><|18-13|><|empty|><|18-14|><|empty|><|18-15|><|empty|><|18-16|><|empty|><|18-17|><|empty|><|18-18|><|empty|><|18-19|><|empty|><|18-20|><|empty|><|18-21|><|empty|><|18-22|><|empty|><|18-23|><|empty|><|18-24|><|empty|>\n<|19-0|><|empty|><|19-1|><|empty|><|19-2|><|empty|><|19-3|><|empty|><|19-4|><|empty|><|19-5|><|empty|><|19-6|><|empty|><|19-7|><|empty|><|19-8|><|empty|><|19-9|><|empty|><|19-10|><|empty|><|19-11|><|empty|><|19-12|><|empty|><|19-13|><|empty|><|19-14|><|empty|><|19-15|><|empty|><|19-16|><|empty|><|19-17|><|empty|><|19-18|><|empty|><|19-19|><|empty|><|19-20|><|empty|><|19-21|><|empty|><|19-22|><|empty|><|19-23|><|empty|><|19-24|><|empty|>\n<|20-0|><|empty|><|20-1|><|empty|><|20-2|><|empty|><|20-3|><|empty|><|20-4|><|empty|><|20-5|><|empty|><|20-6|><|empty|><|20-7|><|empty|><|20-8|><|empty|><|20-9|><|empty|><|20-10|><|empty|><|20-11|><|empty|><|20-12|><|empty|><|20-13|><|empty|><|20-14|><|empty|><|20-15|><|empty|><|20-16|><|empty|><|20-17|><|empty|><|20-18|><|empty|><|20-19|><|empty|><|20-20|><|empty|><|20-21|><|empty|><|20-22|><|empty|><|20-23|><|empty|><|20-24|><|empty|>\n<|21-0|><|empty|><|21-1|><|empty|><|21-2|><|empty|><|21-3|><|empty|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|empty|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|local-3-1|><|blue|><|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: <|yellow|><|star|> found at <|6-12|><|local-0-2|> with height 1\nTarget Placement Location: <|blue|><|cylinder|> at <|22-19|><|local-3-1|> with height 18\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|22-19|><|local-3-1|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|6-12|>\", \"<|local-0-2|>\", 11, 0, 60, 90, 1]\nStep 2: [\"<|6-12|>\", \"<|local-0-2|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|6-12|>\", \"<|local-0-2|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|6-12|>\", \"<|local-0-2|>\", 14, 0, 60, 90, 0]\nStep 5: [\"<|22-19|>\", \"<|local-3-1|>\", 13, 0, 60, 90, 0]\nStep 6: [\"<|22-19|>\", \"<|local-3-1|>\", 19, 0, 60, 90, 0]\nStep 7: [\"<|22-19|>\", \"<|local-3-1|>\", 19, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 55, 96, 26, 0, 60, 90, 1 ], [ 55, 96, 0, 0, 60, 90, 1 ], [ 55, 96, 0, 0, 60, 90, 0 ], [ 55, 96, 26, 0, 60, 90, 0 ], [ 28, 42, 26, 0, 60, 90, 0 ], [ 28, 42, 28, 0, 60, 90, 0 ], [ 28, 42, 28, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|purple|><|star|>\": 16, \"<|azure|><|container|>\": 1, \"<|white|><|cylinder|>\": 14, \"<|silver|><|cube|>\": 27, \"<|silver|><|triangular prism|>\": 16, \"<|black|><|moon|>\": 27}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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 star on top of the 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|><|local-0-2|><|silver|><|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|><|local-3-2|><|silver|><|triangular prism|><|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|><|local-2-1|><|black|><|moon|><|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|><|local-3-0|><|purple|><|star|>\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|><|local-3-3|><|azure|><|container|><|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|><|local-1-3|><|white|><|cylinder|><|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|><|star|> found at <|13-24|><|local-3-0|> with height 16\nTarget Placement Location: <|silver|><|cube|> at <|7-10|><|local-0-2|> with height 27\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|7-10|><|local-0-2|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|13-24|>\", \"<|local-3-0|>\", 26, 0, 60, 90, 1]\nStep 2: [\"<|13-24|>\", \"<|local-3-0|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|13-24|>\", \"<|local-3-0|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|13-24|>\", \"<|local-3-0|>\", 26, 0, 60, 90, 0]\nStep 5: [\"<|7-10|>\", \"<|local-0-2|>\", 26, 0, 60, 90, 0]\nStep 6: [\"<|7-10|>\", \"<|local-0-2|>\", 28, 0, 60, 90, 0]\nStep 7: [\"<|7-10|>\", \"<|local-0-2|>\", 28, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 13, 9, 38, 0, 60, 90, 1 ], [ 13, 9, 0, 0, 60, 90, 1 ], [ 13, 9, 0, 0, 60, 90, 0 ], [ 13, 9, 38, 0, 60, 90, 0 ], [ 86, 28, 38, 0, 60, 90, 0 ], [ 86, 28, 10, 0, 60, 90, 0 ], [ 86, 28, 10, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|azure|><|star|>\": 16, \"<|rose|><|container|>\": 10, \"<|purple|><|cube|>\": 28, \"<|red|><|container|>\": 20}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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 cube 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|><|local-1-1|><|purple|><|cube|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|empty|><|3-23|><|empty|><|3-24|><|empty|>\n<|4-0|><|empty|><|4-1|><|empty|><|4-2|><|empty|><|4-3|><|empty|><|4-4|><|empty|><|4-5|><|empty|><|4-6|><|empty|><|4-7|><|empty|><|4-8|><|empty|><|4-9|><|empty|><|4-10|><|empty|><|4-11|><|empty|><|4-12|><|empty|><|4-13|><|empty|><|4-14|><|empty|><|4-15|><|empty|><|4-16|><|empty|><|4-17|><|empty|><|4-18|><|empty|><|4-19|><|empty|><|4-20|><|empty|><|4-21|><|empty|><|4-22|><|empty|><|4-23|><|empty|><|4-24|><|empty|>\n<|5-0|><|empty|><|5-1|><|empty|><|5-2|><|empty|><|5-3|><|empty|><|5-4|><|empty|><|5-5|><|empty|><|5-6|><|empty|><|5-7|><|empty|><|5-8|><|empty|><|5-9|><|empty|><|5-10|><|empty|><|5-11|><|empty|><|5-12|><|empty|><|5-13|><|empty|><|5-14|><|empty|><|5-15|><|empty|><|5-16|><|empty|><|5-17|><|empty|><|5-18|><|empty|><|5-19|><|empty|><|5-20|><|empty|><|5-21|><|empty|><|5-22|><|empty|><|5-23|><|empty|><|5-24|><|empty|>\n<|6-0|><|empty|><|6-1|><|empty|><|6-2|><|empty|><|6-3|><|empty|><|6-4|><|empty|><|6-5|><|empty|><|6-6|><|empty|><|6-7|><|empty|><|6-8|><|empty|><|6-9|><|empty|><|6-10|><|empty|><|6-11|><|empty|><|6-12|><|empty|><|6-13|><|empty|><|6-14|><|empty|><|6-15|><|empty|><|6-16|><|empty|><|6-17|><|empty|><|6-18|><|empty|><|6-19|><|empty|><|6-20|><|empty|><|6-21|><|empty|><|6-22|><|empty|><|6-23|><|empty|><|6-24|><|empty|>\n<|7-0|><|empty|><|7-1|><|empty|><|7-2|><|empty|><|7-3|><|empty|><|7-4|><|empty|><|7-5|><|empty|><|7-6|><|empty|><|7-7|><|empty|><|7-8|><|empty|><|7-9|><|empty|><|7-10|><|empty|><|7-11|><|empty|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|local-0-3|><|azure|><|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|><|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|><|local-1-0|><|red|><|container|><|21-4|><|empty|><|21-5|><|empty|><|21-6|><|empty|><|21-7|><|local-2-0|><|rose|><|container|><|21-8|><|empty|><|21-9|><|empty|><|21-10|><|empty|><|21-11|><|empty|><|21-12|><|empty|><|21-13|><|empty|><|21-14|><|empty|><|21-15|><|empty|><|21-16|><|empty|><|21-17|><|empty|><|21-18|><|empty|><|21-19|><|empty|><|21-20|><|empty|><|21-21|><|empty|><|21-22|><|empty|><|21-23|><|empty|><|21-24|><|empty|>\n<|22-0|><|empty|><|22-1|><|empty|><|22-2|><|empty|><|22-3|><|empty|><|22-4|><|empty|><|22-5|><|empty|><|22-6|><|empty|><|22-7|><|empty|><|22-8|><|empty|><|22-9|><|empty|><|22-10|><|empty|><|22-11|><|empty|><|22-12|><|empty|><|22-13|><|empty|><|22-14|><|empty|><|22-15|><|empty|><|22-16|><|empty|><|22-17|><|empty|><|22-18|><|empty|><|22-19|><|empty|><|22-20|><|empty|><|22-21|><|empty|><|22-22|><|empty|><|22-23|><|empty|><|22-24|><|empty|>\n<|23-0|><|empty|><|23-1|><|empty|><|23-2|><|empty|><|23-3|><|empty|><|23-4|><|empty|><|23-5|><|empty|><|23-6|><|empty|><|23-7|><|empty|><|23-8|><|empty|><|23-9|><|empty|><|23-10|><|empty|><|23-11|><|empty|><|23-12|><|empty|><|23-13|><|empty|><|23-14|><|empty|><|23-15|><|empty|><|23-16|><|empty|><|23-17|><|empty|><|23-18|><|empty|><|23-19|><|empty|><|23-20|><|empty|><|23-21|><|empty|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\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 <|3-2|><|local-1-1|> with height 28\nTarget Placement Location: <|rose|><|container|> at <|21-7|><|local-2-0|> with height 10\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|21-7|><|local-2-0|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|purple|><|cube|> into <|rose|><|container|>.\n\n</think>\n\nStep 1: [\"<|3-2|>\", \"<|local-1-1|>\", 38, 0, 60, 90, 1]\nStep 2: [\"<|3-2|>\", \"<|local-1-1|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|3-2|>\", \"<|local-1-1|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|3-2|>\", \"<|local-1-1|>\", 38, 0, 60, 90, 0]\nStep 5: [\"<|21-7|>\", \"<|local-2-0|>\", 38, 0, 60, 90, 0]\nStep 6: [\"<|21-7|>\", \"<|local-2-0|>\", 10, 0, 60, 90, 0]\nStep 7: [\"<|21-7|>\", \"<|local-2-0|>\", 10, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 12, 91, 29, 0, 60, 90, 1 ], [ 12, 91, 0, 0, 60, 90, 1 ], [ 12, 91, 0, 0, 60, 90, 0 ], [ 12, 91, 29, 0, 60, 90, 0 ], [ 77, 70, 29, 0, 60, 90, 0 ], [ 77, 70, 12, 0, 60, 90, 0 ], [ 77, 70, 12, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|gray|><|star|>\": 2, \"<|cyan|><|cube|>\": 19, \"<|blue|><|star|>\": 11, \"<|white|><|container|>\": 12, \"<|blue|><|container|>\": 11}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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 cube and place it into the white container\n<desk>\n<|0-0|><|empty|><|0-1|><|empty|><|0-2|><|empty|><|0-3|><|empty|><|0-4|><|empty|><|0-5|><|empty|><|0-6|><|empty|><|0-7|><|empty|><|0-8|><|empty|><|0-9|><|empty|><|0-10|><|empty|><|0-11|><|empty|><|0-12|><|empty|><|0-13|><|empty|><|0-14|><|empty|><|0-15|><|empty|><|0-16|><|empty|><|0-17|><|empty|><|0-18|><|empty|><|0-19|><|empty|><|0-20|><|empty|><|0-21|><|empty|><|0-22|><|empty|><|0-23|><|empty|><|0-24|><|empty|>\n<|1-0|><|empty|><|1-1|><|empty|><|1-2|><|empty|><|1-3|><|empty|><|1-4|><|empty|><|1-5|><|empty|><|1-6|><|empty|><|1-7|><|empty|><|1-8|><|empty|><|1-9|><|empty|><|1-10|><|empty|><|1-11|><|empty|><|1-12|><|empty|><|1-13|><|empty|><|1-14|><|empty|><|1-15|><|empty|><|1-16|><|empty|><|1-17|><|empty|><|1-18|><|empty|><|1-19|><|empty|><|1-20|><|empty|><|1-21|><|empty|><|1-22|><|empty|><|1-23|><|empty|><|1-24|><|empty|>\n<|2-0|><|empty|><|2-1|><|empty|><|2-2|><|empty|><|2-3|><|empty|><|2-4|><|empty|><|2-5|><|empty|><|2-6|><|empty|><|2-7|><|empty|><|2-8|><|empty|><|2-9|><|empty|><|2-10|><|empty|><|2-11|><|empty|><|2-12|><|empty|><|2-13|><|empty|><|2-14|><|empty|><|2-15|><|empty|><|2-16|><|empty|><|2-17|><|empty|><|2-18|><|empty|><|2-19|><|empty|><|2-20|><|empty|><|2-21|><|empty|><|2-22|><|empty|><|2-23|><|empty|><|2-24|><|empty|>\n<|3-0|><|empty|><|3-1|><|empty|><|3-2|><|empty|><|3-3|><|empty|><|3-4|><|empty|><|3-5|><|empty|><|3-6|><|empty|><|3-7|><|empty|><|3-8|><|empty|><|3-9|><|empty|><|3-10|><|empty|><|3-11|><|empty|><|3-12|><|empty|><|3-13|><|empty|><|3-14|><|empty|><|3-15|><|empty|><|3-16|><|empty|><|3-17|><|empty|><|3-18|><|empty|><|3-19|><|empty|><|3-20|><|empty|><|3-21|><|empty|><|3-22|><|local-0-3|><|cyan|><|cube|><|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|><|local-3-0|><|gray|><|star|><|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|><|local-3-3|><|blue|><|star|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|empty|><|17-8|><|empty|><|17-9|><|empty|><|17-10|><|empty|><|17-11|><|empty|><|17-12|><|empty|><|17-13|><|empty|><|17-14|><|empty|><|17-15|><|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|><|local-1-2|><|white|><|container|><|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|><|local-1-3|><|blue|><|container|><|23-22|><|empty|><|23-23|><|empty|><|23-24|><|empty|>\n<|24-0|><|empty|><|24-1|><|empty|><|24-2|><|empty|><|24-3|><|empty|><|24-4|><|empty|><|24-5|><|empty|><|24-6|><|empty|><|24-7|><|empty|><|24-8|><|empty|><|24-9|><|empty|><|24-10|><|empty|><|24-11|><|empty|><|24-12|><|empty|><|24-13|><|empty|><|24-14|><|empty|><|24-15|><|empty|><|24-16|><|empty|><|24-17|><|empty|><|24-18|><|empty|><|24-19|><|empty|><|24-20|><|empty|><|24-21|><|empty|><|24-22|><|empty|><|24-23|><|empty|><|24-24|><|empty|>\n</desk>\n\nThink step by step about the spatial relationships and analyze the desk map to locate objects, then plan your actions step by step:\n1. Identify the target object's position on the desk map.\n2. Create a plan using natural language instructions that reference object tokens.\nThen output ONLY the action sequence in the required format.", "role": "user" }, { "content": "<think>\nLOCATE OBJECTS:\nTarget Object: <|cyan|><|cube|> found at <|3-22|><|local-0-3|> with height 19\nTarget Placement Location: <|white|><|container|> at <|19-17|><|local-1-2|> with height 12\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|19-17|><|local-1-2|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height cause the container is empty.\nStep 7: Open gripper to drop the <|cyan|><|cube|> into <|white|><|container|>.\n\n</think>\n\nStep 1: [\"<|3-22|>\", \"<|local-0-3|>\", 29, 0, 60, 90, 1]\nStep 2: [\"<|3-22|>\", \"<|local-0-3|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|3-22|>\", \"<|local-0-3|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|3-22|>\", \"<|local-0-3|>\", 29, 0, 60, 90, 0]\nStep 5: [\"<|19-17|>\", \"<|local-1-2|>\", 29, 0, 60, 90, 0]\nStep 6: [\"<|19-17|>\", \"<|local-1-2|>\", 12, 0, 60, 90, 0]\nStep 7: [\"<|19-17|>\", \"<|local-1-2|>\", 12, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 71, 28, 26, 0, 60, 90, 1 ], [ 71, 28, 0, 0, 60, 90, 1 ], [ 71, 28, 0, 0, 60, 90, 0 ], [ 71, 28, 26, 0, 60, 90, 0 ], [ 28, 46, 26, 0, 60, 90, 0 ], [ 28, 46, 21, 0, 60, 90, 0 ], [ 28, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|teal|><|triangular prism|>\": 22, \"<|silver|><|cylinder|>\": 27, \"<|rose|><|moon|>\": 6, \"<|green|><|cylinder|>\": 20, \"<|blue|><|moon|>\": 16}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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 and the blue moon in sequence.\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|><|local-2-1|><|silver|><|cylinder|><|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|><|local-1-0|><|teal|><|triangular prism|><|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|><|local-0-2|><|green|><|cylinder|><|7-12|><|empty|><|7-13|><|empty|><|7-14|><|empty|><|7-15|><|empty|><|7-16|><|empty|><|7-17|><|empty|><|7-18|><|empty|><|7-19|><|empty|><|7-20|><|empty|><|7-21|><|empty|><|7-22|><|empty|><|7-23|><|empty|><|7-24|><|empty|>\n<|8-0|><|empty|><|8-1|><|empty|><|8-2|><|empty|><|8-3|><|empty|><|8-4|><|empty|><|8-5|><|empty|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|empty|><|8-10|><|empty|><|8-11|><|empty|><|8-12|><|empty|><|8-13|><|empty|><|8-14|><|empty|><|8-15|><|empty|><|8-16|><|empty|><|8-17|><|empty|><|8-18|><|empty|><|8-19|><|empty|><|8-20|><|empty|><|8-21|><|empty|><|8-22|><|empty|><|8-23|><|empty|><|8-24|><|empty|>\n<|9-0|><|empty|><|9-1|><|empty|><|9-2|><|empty|><|9-3|><|empty|><|9-4|><|empty|><|9-5|><|empty|><|9-6|><|empty|><|9-7|><|empty|><|9-8|><|empty|><|9-9|><|empty|><|9-10|><|empty|><|9-11|><|empty|><|9-12|><|empty|><|9-13|><|empty|><|9-14|><|empty|><|9-15|><|empty|><|9-16|><|empty|><|9-17|><|empty|><|9-18|><|empty|><|9-19|><|empty|><|9-20|><|empty|><|9-21|><|empty|><|9-22|><|empty|><|9-23|><|empty|><|9-24|><|empty|>\n<|10-0|><|empty|><|10-1|><|empty|><|10-2|><|empty|><|10-3|><|empty|><|10-4|><|empty|><|10-5|><|empty|><|10-6|><|empty|><|10-7|><|empty|><|10-8|><|empty|><|10-9|><|empty|><|10-10|><|empty|><|10-11|><|empty|><|10-12|><|empty|><|10-13|><|empty|><|10-14|><|empty|><|10-15|><|empty|><|10-16|><|empty|><|10-17|><|empty|><|10-18|><|empty|><|10-19|><|empty|><|10-20|><|empty|><|10-21|><|empty|><|10-22|><|empty|><|10-23|><|empty|><|10-24|><|empty|>\n<|11-0|><|empty|><|11-1|><|empty|><|11-2|><|empty|><|11-3|><|empty|><|11-4|><|empty|><|11-5|><|empty|><|11-6|><|empty|><|11-7|><|empty|><|11-8|><|empty|><|11-9|><|empty|><|11-10|><|empty|><|11-11|><|empty|><|11-12|><|empty|><|11-13|><|empty|><|11-14|><|empty|><|11-15|><|empty|><|11-16|><|empty|><|11-17|><|empty|><|11-18|><|empty|><|11-19|><|empty|><|11-20|><|empty|><|11-21|><|empty|><|11-22|><|empty|><|11-23|><|empty|><|11-24|><|empty|>\n<|12-0|><|empty|><|12-1|><|empty|><|12-2|><|empty|><|12-3|><|empty|><|12-4|><|empty|><|12-5|><|empty|><|12-6|><|empty|><|12-7|><|empty|><|12-8|><|empty|><|12-9|><|empty|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|empty|><|13-16|><|empty|><|13-17|><|empty|><|13-18|><|empty|><|13-19|><|empty|><|13-20|><|empty|><|13-21|><|empty|><|13-22|><|empty|><|13-23|><|empty|><|13-24|><|empty|>\n<|14-0|><|empty|><|14-1|><|empty|><|14-2|><|empty|><|14-3|><|empty|><|14-4|><|empty|><|14-5|><|empty|><|14-6|><|empty|><|14-7|><|empty|><|14-8|><|empty|><|14-9|><|empty|><|14-10|><|empty|><|14-11|><|empty|><|14-12|><|empty|><|14-13|><|empty|><|14-14|><|empty|><|14-15|><|empty|><|14-16|><|empty|><|14-17|><|empty|><|14-18|><|empty|><|14-19|><|empty|><|14-20|><|empty|><|14-21|><|empty|><|14-22|><|empty|><|14-23|><|empty|><|14-24|><|empty|>\n<|15-0|><|empty|><|15-1|><|empty|><|15-2|><|empty|><|15-3|><|empty|><|15-4|><|empty|><|15-5|><|empty|><|15-6|><|empty|><|15-7|><|empty|><|15-8|><|empty|><|15-9|><|empty|><|15-10|><|empty|><|15-11|><|empty|><|15-12|><|empty|><|15-13|><|empty|><|15-14|><|empty|><|15-15|><|empty|><|15-16|><|empty|><|15-17|><|empty|><|15-18|><|empty|><|15-19|><|empty|><|15-20|><|empty|><|15-21|><|empty|><|15-22|><|empty|><|15-23|><|empty|><|15-24|><|empty|>\n<|16-0|><|empty|><|16-1|><|empty|><|16-2|><|empty|><|16-3|><|empty|><|16-4|><|empty|><|16-5|><|empty|><|16-6|><|empty|><|16-7|><|empty|><|16-8|><|empty|><|16-9|><|empty|><|16-10|><|empty|><|16-11|><|empty|><|16-12|><|empty|><|16-13|><|empty|><|16-14|><|empty|><|16-15|><|empty|><|16-16|><|empty|><|16-17|><|empty|><|16-18|><|empty|><|16-19|><|empty|><|16-20|><|empty|><|16-21|><|empty|><|16-22|><|empty|><|16-23|><|empty|><|16-24|><|empty|>\n<|17-0|><|empty|><|17-1|><|empty|><|17-2|><|empty|><|17-3|><|empty|><|17-4|><|empty|><|17-5|><|empty|><|17-6|><|empty|><|17-7|><|local-3-0|><|blue|><|moon|><|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|><|local-2-3|><|rose|><|moon|><|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 <|17-7|><|local-3-0|> with height 16\nTarget Placement Location: <|green|><|cylinder|> at <|7-11|><|local-0-2|> with height 20\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|7-11|><|local-0-2|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|17-7|>\", \"<|local-3-0|>\", 26, 0, 60, 90, 1]\nStep 2: [\"<|17-7|>\", \"<|local-3-0|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|17-7|>\", \"<|local-3-0|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|17-7|>\", \"<|local-3-0|>\", 26, 0, 60, 90, 0]\nStep 5: [\"<|7-11|>\", \"<|local-0-2|>\", 26, 0, 60, 90, 0]\nStep 6: [\"<|7-11|>\", \"<|local-0-2|>\", 21, 0, 60, 90, 0]\nStep 7: [\"<|7-11|>\", \"<|local-0-2|>\", 21, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 48, 37, 15, 0, 60, 90, 1 ], [ 48, 37, 0, 0, 60, 90, 1 ], [ 48, 37, 0, 0, 60, 90, 0 ], [ 48, 37, 14, 0, 60, 90, 0 ], [ 8, 85, 14, 0, 60, 90, 0 ], [ 8, 85, 25, 0, 60, 90, 0 ], [ 8, 85, 25, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|yellow|><|cube|>\": 3, \"<|rose|><|star|>\": 3, \"<|gray|><|moon|>\": 20, \"<|black|><|star|>\": 11, \"<|teal|><|cube|>\": 2, \"<|blue|><|cube|>\": 22, \"<|teal|><|cylinder|>\": 25}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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: Move the yellow cube to [8, 85, 25]\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|><|local-0-1|><|teal|><|cylinder|><|2-22|><|local-3-2|><|gray|><|moon|><|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|><|local-1-0|><|rose|><|star|><|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|><|local-3-0|><|black|><|star|><|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|><|local-0-1|><|yellow|><|cube|><|12-10|><|empty|><|12-11|><|empty|><|12-12|><|empty|><|12-13|><|empty|><|12-14|><|empty|><|12-15|><|empty|><|12-16|><|empty|><|12-17|><|empty|><|12-18|><|empty|><|12-19|><|empty|><|12-20|><|empty|><|12-21|><|empty|><|12-22|><|empty|><|12-23|><|empty|><|12-24|><|empty|>\n<|13-0|><|empty|><|13-1|><|empty|><|13-2|><|empty|><|13-3|><|empty|><|13-4|><|empty|><|13-5|><|empty|><|13-6|><|empty|><|13-7|><|empty|><|13-8|><|empty|><|13-9|><|empty|><|13-10|><|empty|><|13-11|><|empty|><|13-12|><|empty|><|13-13|><|empty|><|13-14|><|empty|><|13-15|><|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|><|local-1-1|><|teal|><|cube|><|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|><|local-1-3|><|blue|><|cube|><|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 <|12-9|><|local-0-1|> with height 3\nTarget Placement Location: [8, 85] with height 25. Map [8, 85] (100x100) to a 25x25 grid, then a 4x4 subgrid. Result: <|2-21|><|local-0-1|>.\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|2-21|><|local-0-1|> at the same height as stage 4.\nStep 6: Move on top of target location at target_pos: <|2-21|><|local-0-1|> with height target_height.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|12-9|>\", \"<|local-0-1|>\", 15, 0, 60, 90, 1]\nStep 2: [\"<|12-9|>\", \"<|local-0-1|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|12-9|>\", \"<|local-0-1|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|12-9|>\", \"<|local-0-1|>\", 14, 0, 60, 90, 0]\nStep 5: [\"<|2-21|>\", \"<|local-0-1|>\", 14, 0, 60, 90, 0]\nStep 6: [\"<|2-21|>\", \"<|local-0-1|>\", 25, 0, 60, 90, 0]\nStep 7: [\"<|2-21|>\", \"<|local-0-1|>\", 25, 0, 60, 90, 1]", "role": "assistant" } ]

[ [ 56, 16, 25, 0, 60, 90, 1 ], [ 56, 16, 0, 0, 60, 90, 1 ], [ 56, 16, 0, 0, 60, 90, 0 ], [ 56, 16, 25, 0, 60, 90, 0 ], [ 33, 22, 25, 0, 60, 90, 0 ], [ 33, 22, 5, 0, 60, 90, 0 ], [ 33, 22, 5, 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 100x100 discrete grid, divided into a 25x25 grid of larger cells.\n- Global positions are denoted by <|row-col|> tokens (e.g., <|3-12|>)\n- When objects exist within a grid cell, their positions are further specified with <|local-row-col|> tokens (e.g., <|local-0-3|>)\n- Local positions are in the range 0-3 for both row and column, representing positions in a 4x4 grid within each global cell\n- Objects are represented as <|color|><|object|> tokens (e.g., <|red|><|cube|>) while <|empty|> means empty space\n- Example: An object at <|5-10|><|2-3|><|red|><|cube|> is a red cube in the global cell at row 5, column 10, and within that cell, at local position row 2, column 3\n- The height of each object: {\"<|navy|><|cylinder|>\": 2, \"<|purple|><|cube|>\": 15, \"<|yellow|><|cylinder|>\": 9, \"<|azure|><|star|>\": 28, \"<|green|><|cube|>\": 4, \"<|lime|><|cube|>\": 4, \"<|cyan|><|moon|>\": 2}\n\n## IMPORTANT INSTRUCTIONS:\n- Each output action is represented as a 7D discrete gripper action in the following format: [\"<|row-col|>\", \"<|local-row-col|>\", Z, Roll, Pitch, Yaw, Gripper] with <|row-col|> as the global position in the 25x25 grid, <|local-row-col|> as the local position within the 4x4 grid of that cell, Z is the height from Gripper Tip to Table surface.\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 and the purple cube in sequence.\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|><|local-2-0|><|yellow|><|cylinder|><|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|><|local-1-2|><|lime|><|cube|><|8-6|><|empty|><|8-7|><|empty|><|8-8|><|empty|><|8-9|><|local-1-1|><|green|><|cube|><|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|><|local-0-0|><|purple|><|cube|><|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|><|local-3-3|><|navy|><|cylinder|><|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|><|local-0-2|><|cyan|><|moon|><|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|><|local-1-1|><|azure|><|star|><|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 <|14-4|><|local-0-0|> with height 15\nTarget Placement Location: <|lime|><|cube|> at <|8-5|><|local-1-2|> with height 4\nPLAN ACTIONS:\nStep 1: Move above source_object at source_pos with > source height.\nStep 2: Position the gripper at the base of the source_object on the table surface.\nStep 3: Close gripper at the same position to pick up source_object.\nStep 4: Lift source_object at source_pos to height > target height.\nStep 5: Move to target_object location at target_pos: <|8-5|><|local-1-2|> at the same height as stage 4.\nStep 6: Move on top of target_object location at target_pos with height target_height + 1 to avoid collision.\nStep 7: Open gripper to finish the task.\n\n</think>\n\nStep 1: [\"<|14-4|>\", \"<|local-0-0|>\", 25, 0, 60, 90, 1]\nStep 2: [\"<|14-4|>\", \"<|local-0-0|>\", 0, 0, 60, 90, 1]\nStep 3: [\"<|14-4|>\", \"<|local-0-0|>\", 0, 0, 60, 90, 0]\nStep 4: [\"<|14-4|>\", \"<|local-0-0|>\", 25, 0, 60, 90, 0]\nStep 5: [\"<|8-5|>\", \"<|local-1-2|>\", 25, 0, 60, 90, 0]\nStep 6: [\"<|8-5|>\", \"<|local-1-2|>\", 5, 0, 60, 90, 0]\nStep 7: [\"<|8-5|>\", \"<|local-1-2|>\", 5, 0, 60, 90, 1]", "role": "assistant" } ]