observation dict | action dict | state dict | reward float32 0 0 | metadata dict |
|---|---|---|---|---|
{
"image": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/ABB_PandG_20250331_214316/--/385979f06eafad8fe2b114f1935265219561de6b/--/default/train/0/observation/image-f0a0300.jpg?Expires=1772463165&Signature=dR6k1bova4H5xXTbzFR~Dz5PM1n0NGopm~eJ43YQvoJpV8iOIEglXUe1~X4MwcxgB1ef5ryexI76fT1F9mgLpA8B0kmaB-p-VNAz6FDZClhwlPQ4zb596uoaVj464eslTykuOF-QWw25ipzwvff-czLTQq20xtitSTTq9pyAoXH6mr7lp~3S3vVveEfO7ei-DhJRTAjCfg4osA0nkXDmeqCmRVk94kXsPVv45dtYEYqe6eU10xNMzeZ2lWnfgrDtfSbrshdghS7DWzdh0WdX9rEtGG~V8tbLGdM32k24Wmhfe60Rg0nW2DKsKmQa0LTUR2yOVP-1wMynbYA8AkzrYw__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 720,
"width": 1280
},
"instruction": " Can you pick up the Downie bottle?",
"prompt": "Additional information about the scene and objects on the table/workspace. Use relevant only: \n\n \nObject - a downy scent booster beads (with pink cap and pink body)\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [0.29, 0.035, -0.338, 0.0, 0.0, 0.0]. \n Dimension width 0.037 meters, length 0.078 meters, and height 0.262 meters. \n 3d bounding box x1: 0.771, y1: -0.003, z1: 0.279, x2: 0.809, y2: 0.074, z2: 0.017.\n \n \nObject - a dawn platinum liquid dish soap (clear dark blue bottle)\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [0.558, 0.1, -0.392, 0.0, 0.0, 0.0]. \n Dimension width 0.061 meters, length 0.07 meters, and height 0.208 meters. \n 3d bounding box x1: 1.027, y1: 0.065, z1: 0.271, x2: 1.088, y2: 0.134, z2: 0.062.\n \n \nObject - a tide liquid laundry detergent soap (orange bottle)\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [0.553, -0.228, -0.383, 0.0, 0.0, 0.0]. \n Dimension width 0.038 meters, length 0.129 meters, and height 0.217 meters. \n 3d bounding box x1: 1.034, y1: -0.293, z1: 0.227, x2: 1.073, y2: -0.164, z2: 0.01.\n \n \nObject - a large white cardboard box\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [0.349, 0.64, 0.038, 0.0, 0.0, 0.0]. \n Dimension width 0.275 meters, length 0.645 meters, and height 0.638 meters. \n 3d bounding box x1: 0.712, y1: 0.317, z1: 0.486, x2: 0.987, y2: 0.963, z2: -0.152.\n \n\nTask: Can you pick up the Downie bottle?"
} | {
"pose": {
"x": 0.28999999165534973,
"y": 0.03500000014901161,
"z": 0,
"roll": 0,
"pitch": 0,
"yaw": 0
},
"grasp": 1,
"gripper_force": 50
} | {
"images": {
"camF": {
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"height": 720,
"width": 1280
},
"camT": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/ABB_PandG_20250331_214316/--/385979f06eafad8fe2b114f1935265219561de6b/--/default/train/0/state/image-36390588.jpg?Expires=1772463165&Signature=sB-v3NdLZMoY~VzYGCOrzK~cFlBrAuYh6tGuo3rsJxH7C2evdhIf16LTafttkrUD0tipP6MUTlfaG81LXnpXyB8znqGeK4rFIJWIe4Qea1woBwbw~uB2CUKr4fOZekUkN2TXZcBxdsziGRpq0Yb7tAoem6YWnFScx1UP1oy~RSZVXkTZyQOCrI69j~rZY93D1So0YsTG76aTh2yg5r3wnp8xZ0G8MDTDDUgA4-aiuJZZa99InOatUl~MZw0rpmv6jFQujTvXBKYZsIuJkphWXZLBqO0DBQ1GTp2mspHpyhuevKTCAorGD9520QhgY63xkKTA6A8sf1I4fOrn1HuIsA__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 720,
"width": 1280
}
},
"depths": {
"camF": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/ABB_PandG_20250331_214316/--/385979f06eafad8fe2b114f1935265219561de6b/--/default/train/0/state/image-36e6058c.png?Expires=1772463165&Signature=GyWDiTRg9rOVYvM6IEjNBR9XWfjTY4luA5o~-3bhTo4tx40oJtmRffscEAE6XC5Vcr8vWynnXfIbm6stEOifCD7ERcnGdjTKni1CKgcKzrh4Y7V-ta7bs-P1NmgRvR2BeYTVBreygbdFCUPwuXMBTYntnCalAsZV2RXklaZSixiqkfn30~Qy3VKDPB4owAhtYoZ2HSVTKkJpzRR3vVSpDlEkjIS2kQxhv8hTxiFxcqj5Lm-eparDNFKJRUayi7kSTtikFRljEqG5pvlxVaPRNd0-C2f3vEXdZ3NB~3i4NUz2-jNEakzzofx~ufXT0iOQhqVsQD788zkbL9YZIkcPwg__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 720,
"width": 1280
},
"camT": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/ABB_PandG_20250331_214316/--/385979f06eafad8fe2b114f1935265219561de6b/--/default/train/0/state/image-3710059a.png?Expires=1772463165&Signature=EuttTtY~0t3tEP290r~njKKzfdipEu~-hwiLRLWFFVG2i-yBBNZXdasRF~exK904BRzw1CE3fPobcn5RzfZ-UXwOflhiQ1rKHNGvoHuNhreT7VZdlY9EgQHgymDy7EV3Kdrr4ejX~RZZEo3rL0BKCp6or5DCfaf-1pF9N8QLl1neHPaXyXmqYeYxXjuCEbmnaXxkQRTKCnUj3AOfHnaWoW5Ftvw0fIJHxsb6-7RLJjogeW8LDTEOnBFwl2fMI9YqwDnf7xIlnoidOpYVeC3ODFmfhzzpRabh0y1ho80fLRmDfYEMcVGM5pl-wMXA1hYoYBM7v5INZ-rIQ80dH78ncw__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 720,
"width": 1280
}
},
"world_objects": "{\"objects\": [{\"name\": \"a downy scent booster beads (with pink cap and pink body)\", \"bbox_2d\": {\"x1\": 539.437744140625, \"y1\": 334.2818298339844, \"x2\": 620.175537109375, \"y2\": 529.0277099609375, \"confidence\": null, \"label\": null}, \"bbox_3d\": {\"x1\": 0.7714146235835695, \"y1\": -0.0034670214773544483, \"z1\": 0.2790917561863912, \"x2\": 0.8086696121060912, \"y2\": 0.07412633640152189, \"z2\": 0.017263904249107065}, \"volume\": -0.0007568761549549792, \"pose\": {\"x\": 0.7900421178448304, \"y\": 0.03532965746208372, \"z\": 0.14817783021774913, \"roll\": 0.0, \"pitch\": 0.0, \"yaw\": 0.0}, \"pixel_coords\": null, \"mask\": null, \"xyz_min\": [-0.14135501352721414, -0.025361141602634467, 1.195], \"xyz_max\": [-0.06371442371020858, 0.19943477707805995, 1.3342882664268427], \"pca_vectors\": [[-0.06003830571658989, 0.2300471413683781, 0.9713257510201811], [-0.9132893379039659, 0.3800664337441671, -0.14646532426457223], [-0.40286224335077236, -0.8958949819533696, 0.1872810566852797]], \"image\": null}, {\"name\": \"a dawn platinum liquid dish soap (clear dark blue bottle)\", \"bbox_2d\": {\"x1\": 740.871826171875, \"y1\": 376.0581359863281, \"x2\": 822.8223266601562, \"y2\": 572.13134765625, \"confidence\": null, \"label\": null}, \"bbox_3d\": {\"x1\": 1.0274453505621999, \"y1\": 0.06480329790358408, \"z1\": 0.2706109539134434, \"x2\": 1.0880187695444146, \"y2\": 0.13432609119370487, \"z2\": 0.0624689196040048}, \"volume\": -0.0008765346632612614, \"pose\": {\"x\": 1.0577320600533073, \"y\": 0.09956469454864447, \"z\": 0.1665399367587241, \"roll\": 0.0, \"pitch\": 0.0, \"yaw\": 0.0}, \"pixel_coords\": null, \"mask\": null, \"xyz_min\": [0.10555108823761981, 0.018523600439077935, 1.109], \"xyz_max\": [0.1968737650933041, 0.2017210382676012, 1.2086219442969468], \"pca_vectors\": [[-0.05329006582444603, 0.7465351795195836, 0.6632084096451804], [-0.9538707821297815, 0.15844713039742014, -0.2550000742508555], [-0.29544999557208507, -0.6462040951653634, 0.703654437567169]], \"image\": null}, {\"name\": \"a tide liquid laundry detergent soap (orange bottle)\", \"bbox_2d\": {\"x1\": 540.7265625, \"y1\": 512.4989624023438, \"x2\": 675.3594970703125, \"y2\": 715.9391479492188, \"confidence\": null, \"label\": null}, \"bbox_3d\": {\"x1\": 1.034260830363335, \"y1\": -0.2929558359881588, \"z1\": 0.22739484036605562, \"x2\": 1.072504551290032, \"y2\": -0.16356001290525057, \"z2\": 0.010094261433147178}, \"volume\": -0.0010753288093312983, \"pose\": {\"x\": 1.0533826908266835, \"y\": -0.22825792444670467, \"z\": 0.1187445508996014, \"roll\": 0.0, \"pitch\": 0.0, \"yaw\": 0.0}, \"pixel_coords\": null, \"mask\": null, \"xyz_min\": [-0.1001734357848518, 0.17369802273140647, 0.857], \"xyz_max\": [0.00859714599341383, 0.3412344906243534, 1.0167682549562733], \"pca_vectors\": [[-0.2890965320584872, -0.02725107999691112, 0.9569119989794036], [-0.7014877304240801, 0.6862231698983863, -0.19238691524915044], [-0.6514124340356341, -0.726880416391591, -0.21750103689444372]], \"image\": null}, {\"name\": \"a large white cardboard box\", \"bbox_2d\": {\"x1\": 643.67724609375, \"y1\": 167.97079467773438, \"x2\": 1110.7769775390625, \"y2\": 511.3578186035156, \"confidence\": null, \"label\": null}, \"bbox_3d\": {\"x1\": 0.7119494684666422, \"y1\": 0.31747726611342364, \"z1\": 0.4860177615166287, \"x2\": 0.9865941408945703, \"y2\": 0.9625305914245322, \"z2\": -0.15213778066509742}, \"volume\": -0.1130559289122005, \"pose\": {\"x\": 0.8492718046806063, \"y\": 0.6400039287689779, \"z\": 0.16693999042576563, \"roll\": 0.0, \"pitch\": 0.0, \"yaw\": 0.0}, \"pixel_coords\": null, \"mask\": null, \"xyz_min\": [-0.0009337297850540377, -0.33144166478327136, 1.3846214346898396], \"xyz_max\": [0.6061159695388291, 0.11287376509330406, 1.9615446929569966], \"pca_vectors\": [[0.7525866999119537, 0.6395179585927359, 0.1569396054315635], [0.3773456218125555, -0.22351953170711675, -0.8986931070417349], [-0.5396513141043305, 0.7355649526607498, -0.4095371284787963]], \"image\": null}]}",
"gripper_pose": [
0.4999842345714569,
4.819672767553129e-7,
0.5999928712844849,
-3.141566038131714,
-0.00002956731077574659,
0.00001912198968057055,
0
]
} | 0 | {
"episode_idx": 0,
"step_idx": 0
} |
{
"image": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/ABB_PandG_20250331_214316/--/385979f06eafad8fe2b114f1935265219561de6b/--/default/train/1/observation/image-f0a0300.jpg?Expires=1772463165&Signature=YW6~E59k~N4iJvNl0yrODr1kURVGlufufCo2SlyRG8ULSeGwipTFqJWJB8FG1sk7ahYtjkZk7GkcCcxPcY-9BxPVFB6-iA9RavIcBx1fCK9OZjvdCZRjwRK2eIg~swgGQlpL87bnNJosg3I0r6glDqO7L-QAdahXU02UkEzqxKptVtojS~sUgGidlhH4SvJTMTJCnTJgYMnQ1v3TcX0vFx6OeybfTyidb0D8lBcZLu6msS48ICtHEDVS4EunnQ4L91q47yBRHhQ1iaGOkkxtlMef8Odi~xE4sOvZdY5DCK7D0dZcmvGiqlE9PjQzGH-1IrA3jxVXNwvGs47WfJagZA__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 720,
"width": 1280
},
"instruction": " Can you place it in the white cardboard box?",
"prompt": "Additional information about the scene and objects on the table/workspace. Use relevant only: \n\n \nObject - a dawn platinum liquid dish soap (clear dark blue bottle)\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [0.268, 0.066, -0.389, 0.0, 0.0, 0.0]. \n Dimension width 0.058 meters, length 0.07 meters, and height 0.213 meters. \n 3d bounding box x1: 1.029, y1: 0.066, z1: 0.271, x2: 1.087, y2: 0.136, z2: 0.058.\n \n \nObject - a tide liquid laundry detergent soap (orange bottle)\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [0.263, -0.264, -0.386, 0.0, 0.0, 0.0]. \n Dimension width 0.039 meters, length 0.133 meters, and height 0.216 meters. \n 3d bounding box x1: 1.033, y1: -0.296, z1: 0.226, x2: 1.072, y2: -0.163, z2: 0.01.\n \n \nObject - a large white cardboard box\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [0.127, 0.581, 0.088, 0.0, 0.0, 0.0]. \n Dimension width 0.25 meters, length 0.737 meters, and height 0.69 meters. \n 3d bounding box x1: 0.792, y1: 0.248, z1: 0.507, x2: 1.042, y2: 0.985, z2: -0.183.\n \n \nObject - a downy scent booster beads (with pink cap and pink body)\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [0.073, 0.592, 0.049, 0.0, 0.0, 0.0]. \n Dimension width 0.256 meters, length 0.7 meters, and height 0.651 meters. \n 3d bounding box x1: 0.736, y1: 0.277, z1: 0.501, x2: 0.991, y2: 0.977, z2: -0.15.\n \n\nTask: Can you place it in the white cardboard box?"
} | {
"pose": {
"x": 0,
"y": 0,
"z": -0.33799999952316284,
"roll": 0,
"pitch": 0,
"yaw": 0
},
"grasp": 0,
"gripper_force": 0
} | {
"images": {
"camF": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/ABB_PandG_20250331_214316/--/385979f06eafad8fe2b114f1935265219561de6b/--/default/train/1/state/image-360f057a.jpg?Expires=1772463165&Signature=FCDaZXKJq9NnPHVArbiVEdqf613ncyWF1VEocBrziPqX1K99vpGxcpNQhknGYa6QjY5XuLAJaMcj1h2hADiymecOUkWrRnHx5sYOd3RbisNS7vUsqWlVQi2C6mEmpQ4NvkAhkzeyA~EM784PkGEFXT3hN2OXAgkJTgqwmbEWoSAPWA14mdXfvOldyzSV8QECkvs2QQDqrICaU4ME9T6F4Yl~~aWtxepmEq0xUB8oYnolcHvNvvy9qp99CtgkFCZFVLiMkiEka5vR7xFl3LGwyrgD6gCwcpFvIeu4TNhiSXLY6Gzivq1HdqDoHf8C9dJTJQwzXMfcg92aN5NTe4EX~A__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 720,
"width": 1280
},
"camT": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/ABB_PandG_20250331_214316/--/385979f06eafad8fe2b114f1935265219561de6b/--/default/train/1/state/image-36390588.jpg?Expires=1772463165&Signature=y2S5xKlS9QNXCDaLXDkFybjaPhqj98trFoGDSHXHH~v0SrBrhJrBaQ5f9ShVbXyCwifJxTLmTNR-xM36DfkzPcLE9KMKZfF-O-ielX0fLQpjUp315GiuHl1XTJdycsH~I3Ma7ZH2FhbAIwV~Gflyy~eKaAWVDMSIcBkOPBjhHrZHbpfpa~W8cZaIxHLu9VdjgpzifeIC-bGehI1BtrnK9WzHYaCcUUS420jFSuSPCKEn8FK9MOEtIQA6fv9Yn8lInfK1f2kRWPhMS6y5Fz7XTeqU8QFG~nqhnKx78ludijj6tOF~LazuX-ge4NOiSpETvD8fWH-TbiHtaDEguhzA6g__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 720,
"width": 1280
}
},
"depths": {
"camF": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/ABB_PandG_20250331_214316/--/385979f06eafad8fe2b114f1935265219561de6b/--/default/train/1/state/image-36e6058c.png?Expires=1772463165&Signature=hYc2OStHMTiN7oGGYVvvypHjiemb0E5kvBZdzCD6tek4Wz28CFBeBDvzPfg5~L70DDLJN4JeFlXAfDOuv~yW8roiscpSaxDKq4B3XZNWmPJVB6zutXrSuih7Rx4vfar6jp177xrcOHy68XtEevQiIaEyBsfuw~1h1A9FP9JSDC7UZxndd9XUUU396xlQ8UJfKrY3SRAHmZ2ZE1LMUq~vsWQ8weycDEQ4RJjDdqk1LZfWR5JLcOP0Il9TVhoTmaGM~RK7Fntjm4X7ye-TZE2PsPuXv3DwbpAqkeG5CvTFdUPwGUNQFy-Jo6ejHIMsFkCUkphC2kfJRnY5U~XwFVzG1g__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 720,
"width": 1280
},
"camT": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/ABB_PandG_20250331_214316/--/385979f06eafad8fe2b114f1935265219561de6b/--/default/train/1/state/image-3710059a.png?Expires=1772463165&Signature=MYFlcEighe0JCCkCJr-3vXi2tNcEMjLVcn87-1imeScPHhNz6vdfV-jRb068J~QJdhXb-8NfYUX5-TRdI1R3bGGRNz6nZyyDENqWa78KCJpKtH~1glS2QDViWe~y5XQxcZFGpBbgj2vkJKCLBTR~B1S71GNhnQsWJxMxBB823k5J5FVnHI54Wt1pSSA3r9M-N6eKsS4~4X~5c15GushdNYum2h2SVkHPxJgTKgek0Bh1QmkkZJ8id3vvS7wCIfuRKrbF~1T5zkmUTIJ6b-uYp6dzlPlWc~l9DfqZrWgIROcuE5bulUUf1WvBuPfhzlJ-svbeYX136EM9wTnxaWypew__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 720,
"width": 1280
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"instruction": " Can you pick up the tight bottle now and...",
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"instruction": " You missed it. Try again.",
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"instruction": " Can you place it in front of the Downey bottle in the white cardboard box?",
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"height": 720,
"width": 1280
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"instruction": " Move up by point three.",
"prompt": "Additional information about the scene and objects on the table/workspace. Use relevant only: \n\n \nObject - a tide liquid laundry detergent soap (orange bottle)\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [0.001, 0.033, -0.03, 0.0, 0.001, 0.0]. \n Dimension width 0.039 meters, length 0.093 meters, and height 0.188 meters. \n 3d bounding box x1: 0.682, y1: 0.611, z1: 0.223, x2: 0.721, y2: 0.704, z2: 0.035.\n \n \nObject - a dawn platinum liquid dish soap (clear dark blue bottle)\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [0.36, -0.528, 0.018, 0.0, 0.001, 0.0]. \n Dimension width 0.066 meters, length 0.064 meters, and height 0.236 meters. \n 3d bounding box x1: 1.027, y1: 0.064, z1: 0.267, x2: 1.093, y2: 0.128, z2: 0.031.\n \n \nObject - a downy scent booster beads (with pink cap and pink body)\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [0.141, -0.001, 0.043, 0.0, 0.001, 0.0]. \n Dimension width 0.06 meters, length 0.087 meters, and height 0.261 meters. \n 3d bounding box x1: 0.811, y1: 0.58, z1: 0.287, x2: 0.871, y2: 0.667, z2: 0.026.\n \n \nObject - a large white cardboard box\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [0.265, -0.051, 0.434, 0.0, 0.001, 0.0]. \n Dimension width 0.295 meters, length 0.761 meters, and height 0.652 meters. \n 3d bounding box x1: 0.818, y1: 0.192, z1: 0.484, x2: 1.113, y2: 0.953, z2: -0.169.\n \n\nTask: Move up by point three."
} | {
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"roll": 0,
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"yaw": 0
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} | 0 | {
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{
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"instruction": " Go home.",
"prompt": "Additional information about the scene and objects on the table/workspace. Use relevant only: \n\n \nObject - a tide liquid laundry detergent soap (orange bottle)\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [-0.002, 0.027, -0.317, 0.0, 0.001, 0.0]. \n Dimension width 0.043 meters, length 0.103 meters, and height 0.201 meters. \n 3d bounding box x1: 0.677, y1: 0.6, z1: 0.237, x2: 0.72, y2: 0.703, z2: 0.036.\n \n \nObject - a downy scent booster beads (with pink cap and pink body)\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [0.139, 0.001, -0.254, 0.0, 0.001, 0.0]. \n Dimension width 0.06 meters, length 0.088 meters, and height 0.264 meters. \n 3d bounding box x1: 0.809, y1: 0.581, z1: 0.287, x2: 0.869, y2: 0.669, z2: 0.023.\n \n \nObject - a dawn platinum liquid dish soap (clear dark blue bottle)\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [0.36, -0.529, -0.278, 0.0, 0.001, 0.0]. \n Dimension width 0.065 meters, length 0.064 meters, and height 0.24 meters. \n 3d bounding box x1: 1.027, y1: 0.063, z1: 0.268, x2: 1.093, y2: 0.127, z2: 0.028.\n \n \nObject - a large white cardboard box\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [0.186, -0.008, 0.134, 0.0, 0.001, 0.0]. \n Dimension width 0.277 meters, length 0.704 meters, and height 0.652 meters. \n 3d bounding box x1: 0.747, y1: 0.264, z1: 0.504, x2: 1.024, y2: 0.968, z2: -0.149.\n \n\nTask: Go home."
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"z": 0,
"roll": 0,
"pitch": 0,
"yaw": 0
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"grasp": 1,
"gripper_force": 50
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"instruction": " Can you pick up the dawn bottle?",
"prompt": "Additional information about the scene and objects on the table/workspace. Use relevant only: \n\n \nObject - a tide liquid laundry detergent soap (orange bottle)\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [0.198, 0.648, -0.399, 0.0, 0.0, 0.0]. \n Dimension width 0.046 meters, length 0.104 meters, and height 0.201 meters. \n 3d bounding box x1: 0.675, y1: 0.596, z1: 0.244, x2: 0.721, y2: 0.7, z2: 0.043.\n \n \nObject - a downy scent booster beads (with pink cap and pink body)\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [0.343, 0.624, -0.334, 0.0, 0.0, 0.0]. \n Dimension width 0.054 meters, length 0.088 meters, and height 0.266 meters. \n 3d bounding box x1: 0.816, y1: 0.58, z1: 0.292, x2: 0.87, y2: 0.668, z2: 0.026.\n \n \nObject - a dawn platinum liquid dish soap (clear dark blue bottle)\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [0.562, 0.096, -0.365, 0.0, 0.0, 0.0]. \n Dimension width 0.064 meters, length 0.059 meters, and height 0.235 meters. \n 3d bounding box x1: 1.03, y1: 0.067, z1: 0.271, x2: 1.094, y2: 0.126, z2: 0.035.\n \n \nObject - large white cardboard box\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [0.384, 0.623, 0.056, 0.0, 0.0, 0.0]. \n Dimension width 0.285 meters, length 0.693 meters, and height 0.656 meters. \n 3d bounding box x1: 0.742, y1: 0.276, z1: 0.51, x2: 1.027, y2: 0.969, z2: -0.146.\n \n\nTask: Can you pick up the dawn bottle?"
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"instruction": " Can you place it to the front of the Downing bottle?",
"prompt": "Additional information about the scene and objects on the table/workspace. Use relevant only: \n\n \nObject - a dawn platinum liquid dish soap (clear dark blue bottle)\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [0.023, -0.004, -0.365, 0.0, 0.0, 0.0]. \n Dimension width 0.053 meters, length 0.053 meters, and height 0.235 meters. \n 3d bounding box x1: 1.058, y1: 0.066, z1: 0.644, x2: 1.111, y2: 0.118, z2: 0.409.\n \n \nObject - a tide liquid laundry detergent soap (orange bottle)\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [-0.372, 0.55, -0.383, 0.0, 0.0, 0.0]. \n Dimension width 0.06 meters, length 0.111 meters, and height 0.217 meters. \n 3d bounding box x1: 0.66, y1: 0.59, z1: 0.243, x2: 0.72, y2: 0.701, z2: 0.025.\n \n \nObject - a downy scent booster beads (with pink cap and pink body)\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [-0.221, 0.526, -0.334, 0.0, 0.0, 0.0]. \n Dimension width 0.058 meters, length 0.092 meters, and height 0.266 meters. \n 3d bounding box x1: 0.812, y1: 0.576, z1: 0.288, x2: 0.87, y2: 0.668, z2: 0.023.\n \n \nObject - large white cardboard box\n The position with respect to the current end effector position (x,y,z,roll,pitch,yaw) is [-0.18, 0.521, 0.051, 0.0, 0.0, 0.0]. \n Dimension width 0.277 meters, length 0.697 meters, and height 0.651 meters. \n 3d bounding box x1: 0.744, y1: 0.268, z1: 0.498, x2: 1.021, y2: 0.965, z2: -0.153.\n \n\nTask: Can you place it to the front of the Downing bottle?"
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} | 0 | {
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