observation dict | action dict | state dict | reward float32 0 0 | metadata dict |
|---|---|---|---|---|
{
"image": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/ABB_PandG_20250331_222148/--/d13145d81588a6d11cc8a6df41fe44c6b3e48868/--/default/train/0/observation/image-f0a0300.jpg?Expires=1772385203&Signature=SQoZhjSME64xVs7gVcU00I2LPuYBQf1Ou-wMedUwwQe8QBlo3~JPL1ssq3~UARVhZRY2QZcInNZxHxP0~3bbvDFhrAjOslYdW2TcliFTScrTg7wOThZScqzs0wmxJa1F5IKcUokfmzJrq8nxrWOmRD6PZqCUcQxS8hgNSxwlNY1dPpBLYPJYN66XIeAYtMnfyNSKSn3y7s0HuVgJiTSSb7BZcgGOEVq9e5JYrDbXR~Elh-w-QKmQITGZ4tkqpnInDXh-9XbkjkxVgdLqt6Pv~x5kG3ZZchE-su7IKHYLpDKF3QZU5hLTidO5GDbiQdpnOcclFuwCS4mbVruc3UM5fw__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 720,
"width": 1280
},
"instruction": " Pick up the downy 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 [0.379, -0.017, -0.385, 0.0, 0.0, 0.0]. \n Dimension width 0.05 meters, length 0.05 meters, and height 0.215 meters. \n 3d bounding box x1: 0.854, y1: -0.042, z1: 0.261, x2: 0.904, y2: 0.008, z2: 0.046.\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 [0.515, 0.226, -0.354, 0.0, 0.0, 0.0]. \n Dimension width 0.049 meters, length 0.061 meters, and height 0.246 meters. \n 3d bounding box x1: 0.99, y1: 0.195, z1: 0.266, x2: 1.039, y2: 0.256, z2: 0.02.\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 [0.333, -0.257, -0.372, 0.0, 0.0, 0.0]. \n Dimension width 0.038 meters, length 0.099 meters, and height 0.228 meters. \n 3d bounding box x1: 0.815, y1: -0.307, z1: 0.229, x2: 0.852, y2: -0.208, z2: 0.001.\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 [0.373, 0.639, -0.001, 0.0, 0.0, 0.0]. \n Dimension width 0.249 meters, length 0.605 meters, and height 0.599 meters. \n 3d bounding box x1: 0.749, y1: 0.337, z1: 0.465, x2: 0.998, y2: 0.941, z2: -0.134.\n \n\nTask: Pick up the downy bottle."
} | {
"pose": {
"x": 0.5149999856948853,
"y": 0.22599999606609344,
"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_222148/--/d13145d81588a6d11cc8a6df41fe44c6b3e48868/--/default/train/0/state/image-36390588.jpg?Expires=1772385203&Signature=pXUjBAFC-ie2hrGi3ll53kSdu6wXyU0J63KDUkvsmFuZ6PjgY~VknUMPJ40A3-D1Z8j-p8PxMYENuYJ79KP7ieGhIkGGRKNljSfegttvx6xkLc5JjN3oHb4Wh5O5Gx1Q4xO7AWuCicBCCWpfgJOpC29gz2tBlbcnZIGL8AYYOTT2qZ9bpJaECuNeR-N6QNmiFZVYDTm4nD3f9KNaUn3WQ-309vUprU7bMT4BYxNBZC1UBtCXqhGxshQ3S9QuFwkVdYpSexWCungdoYZj8qFwVyo1Q7vQalyMQZFDafar5nPiWNN~E-jyNVxOpol5rLe79x5qacoV~d057QpA4XHOmw__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 720,
"width": 1280
}
},
"depths": {
"camF": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/ABB_PandG_20250331_222148/--/d13145d81588a6d11cc8a6df41fe44c6b3e48868/--/default/train/0/state/image-36e6058c.png?Expires=1772385203&Signature=OaxQU-r9hLC7ZeiwHB~BHhw9BFTCfExYaKNVqmt3ts8qBNfH4C5YMniwFtFBfoZjTvd27CzoZFphPKi6Q45czQqLl4ZEpSWzxkDUIjj3XS2wBYVah3rANlE5bbE2eMv2yfgwQBL1~NY8VqEA1pZfslN~ftrJP8JngKqNUmdD0BxVwuewjfeV4cV0p5xqASYzNkHgzV-c34Sc~09HQCuXOxja13Fip2KPBn5GWUxGKeRFmvXafHkIrO5pYr9NmxuaTPbPOzIWPErUzjsWQW8F3evgr6QQx5kC3a0PwdmJO4aqQNlLnYjAxlxeb3sHitT7F51--ZwYTN3yHVSQU4rg2w__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 720,
"width": 1280
},
"camT": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/ABB_PandG_20250331_222148/--/d13145d81588a6d11cc8a6df41fe44c6b3e48868/--/default/train/0/state/image-3710059a.png?Expires=1772385203&Signature=VzZF2N-20gweNXNKGauQuUFERt9-kW03nDTypBy8gfLk5HDmSu9f~5EK2MvGr0gGa0NlGflKJKf2qMgtYd~ovUi7X9RdNz-L8wOyYVXggifth4EESYvdw65G-LoNSmm64h6d15TXmAiWxSkDJCX351K~u5xXxmc86MXrxJ1briSOigtC3m851T-36b65e7uBMwE46a9QjBBHX1XjEjEH~fW1raKjOKBdhOGQoH7dsKx4bG2gqShGxMnFXzqgChJ5RIXFDK9w2vo7qnyWfjvxDhj05GwvTNvI4kTaa-BoYYpfaqGjQEnaAAny9BdXjEPNDLHfVBM7e1SI1ifUUV-9gA__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 720,
"width": 1280
}
},
"world_objects": "{\"objects\": [{\"name\": \"a dawn platinum liquid dish soap (clear dark blue bottle)\", \"bbox_2d\": {\"x1\": 573.8192138671875, \"y1\": 368.7694091796875, \"x2\": 645.609130859375, \"y2\": 554.0764770507812, \"confidence\": null, \"label\": null}, \"bbox_3d\": {\"x1\": 0.8516977588543126, \"y1\": -0.04396764865642, \"z1\": 0.26100742453632225, \"x2\": 0.9023259022862554, \"y2\": 0.0102419456467433, \"z2\": 0.04524765482097526}, \"volume\": -0.0005921594015147036, \"pose\": {\"x\": 0.8770118305702841, \"y\": -0.01686285150483835, \"z\": 0.15312753967864876, \"roll\": 0.0, \"pitch\": 0.0, \"yaw\": 0.0}, \"pixel_coords\": null, \"mask\": null, \"xyz_min\": [-0.09935008665957672, 0.022838803671544717, 1.1280000000000001], \"xyz_max\": [-0.025312843029637763, 0.21564127332601526, 1.224952882888115], \"pca_vectors\": [[-0.10800974248647427, 0.43094988361687864, 0.8958884379980604], [-0.9364931343804318, 0.2583255892644932, -0.2371676605051092], [-0.3336382843534595, -0.8646097892932691, 0.37567992689512836]], \"image\": null}, {\"name\": \"a downy scent booster beads (with pink cap and pink body)\", \"bbox_2d\": {\"x1\": 754.5842895507812, \"y1\": 327.68310546875, \"x2\": 835.9530029296875, \"y2\": 524.8236083984375, \"confidence\": null, \"label\": null}, \"bbox_3d\": {\"x1\": 0.9863958334300964, \"y1\": 0.19379880316376452, \"z1\": 0.26596879412883245, \"x2\": 1.037000492779852, \"y2\": 0.25915632539214695, \"z2\": 0.01942290908678246}, \"volume\": -0.0008154246640242087, \"pose\": {\"x\": 1.0116981631049742, \"y\": 0.22647756427795573, \"z\": 0.14269585160780746, \"roll\": 0.0, \"pitch\": 0.0, \"yaw\": 0.0}, \"pixel_coords\": null, \"mask\": null, \"xyz_min\": [0.1496972654628519, -0.02691547749725576, 1.229], \"xyz_max\": [0.23046322722283205, 0.19066739846322722, 1.3462683341770343], \"pca_vectors\": [[-0.0849785847509494, 0.5697533904995699, 0.8174103707122699], [-0.9250058847354411, 0.25980011702052497, -0.2772508113620693], [-0.3703278997571341, -0.779669784723229, 0.5049477927975365]], \"image\": null}, {\"name\": \"a tide liquid laundry detergent soap (orange bottle)\", \"bbox_2d\": {\"x1\": 372.0108642578125, \"y1\": 456.9580078125, \"x2\": 510.1937255859375, \"y2\": 678.6552124023438, \"confidence\": null, \"label\": null}, \"bbox_3d\": {\"x1\": 0.8132593292625447, \"y1\": -0.3054302242738999, \"z1\": 0.23035962690294776, \"x2\": 0.8523944459707563, \"y2\": -0.20633745098728384, \"z2\": 0.00018880572482604663}, \"volume\": -0.0008926041126945602, \"pose\": {\"x\": 0.8328268876166505, \"y\": -0.25588383763059186, \"z\": 0.1152742163138869, \"roll\": 0.0, \"pitch\": 0.0, \"yaw\": 0.0}, \"pixel_coords\": null, \"mask\": null, \"xyz_min\": [-0.28454626016154905, 0.12560482985729968, 0.967], \"xyz_max\": [-0.19321405049396267, 0.3147714508593284, 1.1091406309790406], \"pca_vectors\": [[0.16318238753593076, 0.27776595693241557, 0.9466876895616066], [0.8802864348294298, -0.4742757951361745, -0.01258025449828358], [0.4454966902832898, 0.8354092071059362, -0.32190706054584395]], \"image\": null}, {\"name\": \"a large white cardboard box\", \"bbox_2d\": {\"x1\": 657.6159057617188, \"y1\": 166.8643341064453, \"x2\": 1123.595458984375, \"y2\": 508.4418029785156, \"confidence\": null, \"label\": null}, \"bbox_3d\": {\"x1\": 0.7334216482537835, \"y1\": 0.3485867381900536, \"z1\": 0.4592205235169696, \"x2\": 0.9890713542590349, \"y2\": 0.93467149591671, \"z2\": -0.12865296338763166}, \"volume\": -0.08808249309189362, \"pose\": {\"x\": 0.8612465012564092, \"y\": 0.6416291170533818, \"z\": 0.16528378006466898, \"roll\": 0.0, \"pitch\": 0.0, \"yaw\": 0.0}, \"pixel_coords\": null, \"mask\": null, \"xyz_min\": [0.03581939778390647, -0.31143630797084265, 1.4061474029906873], \"xyz_max\": [0.5913229630617239, 0.10095344284124155, 1.9313119813984854], \"pca_vectors\": [[0.682693257475011, 0.7097398057855796, 0.17377952779774236], [0.4290500388255555, -0.19684764887118045, -0.881570795408785], [-0.5914777936507404, 0.6764025511611679, -0.43890045386250853]], \"image\": null}]}",
"gripper_pose": [
0.49999237060546875,
-0.000012531586435216013,
0.5999663472175598,
-3.1415679454803467,
-0.00008793290180619806,
-0.000005566790150624001,
1
]
} | 0 | {
"episode_idx": 0,
"step_idx": 0
} |
{
"image": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/ABB_PandG_20250331_222148/--/d13145d81588a6d11cc8a6df41fe44c6b3e48868/--/default/train/1/observation/image-f0a0300.jpg?Expires=1772385203&Signature=nQWb7P3JnQRPaJFeMlpuhoDmdpedmbOclsWdu8b4Uv~3VOZYsdlP5E2OosEtXtAgk5vAof8y79PyrVyXJ1gun-s3aKJVDaUqYBaic5dvlb9qIwfTDKciC8LTbNSzHwbASB-8gY3dadhcer~56sXAsJ5gg9oPjAMo0ZpRcaVscxaDNgkz02BUyI0jEeiwByFWC5tbzOGCWje2QzE7lZMfr2wzF7xE5~ewEInkOqcyTAccWhfISmcyNfNwwhZF2cqIgyCTSlii0voRB76-7uoxJdr~R44ObJ1pwGUot4H6qbfpsdVngByNwlM02Wi7LMTlchyO8oj4HUvPMGLtDDhcHQ__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 720,
"width": 1280
},
"instruction": " 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 [-0.129, -0.242, -0.372, 0.0, 0.0, 0.0]. \n Dimension width 0.048 meters, length 0.041 meters, and height 0.228 meters. \n 3d bounding box x1: 0.862, y1: -0.037, z1: 0.261, x2: 0.91, y2: 0.004, z2: 0.033.\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 [0.002, 0.016, -0.39, 0.0, 0.0, 0.0]. \n Dimension width 0.029 meters, length 0.071 meters, and height 0.21 meters. \n 3d bounding box x1: 1.003, y1: 0.206, z1: 0.257, x2: 1.032, y2: 0.277, z2: 0.047.\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 [-0.18, -0.487, -0.379, 0.0, 0.0, 0.0]. \n Dimension width 0.04 meters, length 0.094 meters, and height 0.221 meters. \n 3d bounding box x1: 0.815, y1: -0.308, z1: 0.226, x2: 0.856, y2: -0.214, z2: 0.005.\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 [-0.151, 0.41, -0.024, 0.0, 0.0, 0.0]. \n Dimension width 0.256 meters, length 0.574 meters, and height 0.576 meters. \n 3d bounding box x1: 0.736, y1: 0.35, z1: 0.451, x2: 0.992, y2: 0.923, z2: -0.124.\n \n\nTask: Place it in the white cardboard box."
} | {
"pose": {
"x": 0,
"y": 0,
"z": -0.3540000021457672,
"roll": 0,
"pitch": 0,
"yaw": 0
},
"grasp": 0,
"gripper_force": 0
} | {
"images": {
"camF": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/ABB_PandG_20250331_222148/--/d13145d81588a6d11cc8a6df41fe44c6b3e48868/--/default/train/1/state/image-360f057a.jpg?Expires=1772385203&Signature=Nxv~H6~ObaPxrX5Dfyua8pLtwCC1DY49AU-QBy7uucz4w-Bq6LmiYnNQ~xrZlfNroQt5O3DdV9Xl5hGpGz5vxxfDHm7QbRXh0WjeuwYh3EI1SQ6LBhJDA4KoEgtAUjTelLHH8YnHcozc7Mxmfv6U8fkuF2ey3iBji~TVfSQ6U9Ch4jDWeN~y5TaSvbC4~g7Eg4E7r9pf47DDl~WqzN4XBmSKB630wPzhcJA1Cee3YohOuWULk~bcQSbX1~bahhNi-aOlRYp6~foOdbfwygl9f0tRT8BJnjatr~hIlU0AzPKBwc3NcpfdoenvLfT5Z3vU4nCxDmu5lRB5RPTwfOCKrw__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 720,
"width": 1280
},
"camT": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/ABB_PandG_20250331_222148/--/d13145d81588a6d11cc8a6df41fe44c6b3e48868/--/default/train/1/state/image-36390588.jpg?Expires=1772385203&Signature=ziVoMtyObHtQTsDaaYM8qA78WHR7UBoiYdlNPs31p97MJ6i1hLkdh79AUyaROIH8Oo9Ic6oBofbOVT7NSr99K1Aaxxl117-4h0pzTppnuM52lJGAEXKeF30dBh0GetFVamiHMsAo2h5VaIOeqXOMFZyWV4iBITOlS418DhqnJHs0am1wRVbCQzlpTSCYTQnDQLdM8ngia-S-Rev-zaJIWtFBv1r10Z~YPK2jY0X0MeV1JC-dkGftl3QNyE8BYqQCm1KoE83UQCc0uBeIwBe9BXgjpdULoJ0gYPIcSzSaymaynPxp0UdWyNF7GgGGGaNv4Wfov7kUlDG-AV1s-N2s4w__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 720,
"width": 1280
}
},
"depths": {
"camF": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/ABB_PandG_20250331_222148/--/d13145d81588a6d11cc8a6df41fe44c6b3e48868/--/default/train/1/state/image-36e6058c.png?Expires=1772385203&Signature=ylR1hVsIi0bbrQUI1VIzJCnnl0K8~lA2TeUPJ9APwNvAt7TqOBuAvF1O1s8SkCgfjgx8CRL4SGw~2w-wPh7QElDYfipYSfcoVFa3cjXfenZG0g49b8lINR1hrkacI838bxXa24AvKHAixTeYXbKid0i-3YlfeBGb9A0Uhh6UEConPMF0ebLbnnDR-p3QPNyAmMU4DabM0Q7prlCmVFcYZbpHSi8Ac2DPc05Dt8uwdgV1sPqCyq7PuQFGxGx9JzgyaLzrRygd28hgGs20UdMGoXvATJcuwxEEQa~bcFs0yJsfysKyYOky83vj7sLIRvctQXXvaRc4U5~0KWmzqFPvlA__&Key-Pair-Id=K3EI6M078Z3AC3",
"height": 720,
"width": 1280
},
"camT": {
"src": "https://datasets-server.huggingface.co/assets/mbodiai/ABB_PandG_20250331_222148/--/d13145d81588a6d11cc8a6df41fe44c6b3e48868/--/default/train/1/state/image-3710059a.png?Expires=1772385203&Signature=ISkZFgH56N~RjNotIgVIIIQ6I-aH~ZRXnwgA7RfD1W1Hx6Lw-lxmjQ8ryARUc6qUy6KxaNxf~RavucqIWqlx79azaLA4LAo7Zjfb4FcyQ3D0r~asm5vep7snT8PZoWzo5lcAX7KEtb1Fi3uBAqax0jc1P2L1yMGHMhGwzvQrOkNW4YRN3HMvHefUS4Q~c5cYbW98zqF8CbNvKCRtfZ37t5McYABzeJ4LB8An~v-VA8U8vqNjkQlXLHeW5Qo~ewpp80uxhXqf~CPNQ6RPKZ4A1KeCnfrtclTVXcqBCm1j8kxImo7VzWJjFjNGbLP~Gqx-yzhjERf8Co10SqLIRZMtQA__&Key-Pair-Id=K3EI6M078Z3AC3",
"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 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 [-0.005, 0.016, -0.008, 0.0, 0.0, 0.0]. \n Dimension width 0.031 meters, length 0.061 meters, and height 0.222 meters. \n 3d bounding box x1: 0.843, y1: 0.621, z1: 0.279, x2: 0.874, y2: 0.682, z2: 0.057.\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 [0.011, -0.642, 0.001, 0.0, 0.0, 0.0]. \n Dimension width 0.036 meters, length 0.061 meters, and height 0.231 meters. \n 3d bounding box x1: 0.857, y1: -0.037, z1: 0.26, x2: 0.893, y2: 0.024, z2: 0.029.\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 [-0.03, -0.892, -0.003, 0.0, 0.0, 0.0]. \n Dimension width 0.04 meters, length 0.097 meters, and height 0.227 meters. \n 3d bounding box x1: 0.814, y1: -0.304, z1: 0.227, x2: 0.854, y2: -0.207, z2: -0.0.\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 [0.09, -0.036, 0.402, 0.0, 0.0, 0.0]. \n Dimension width 0.24 meters, length 0.691 meters, and height 0.632 meters. \n 3d bounding box x1: 0.834, y1: 0.254, z1: 0.478, x2: 1.074, y2: 0.946, z2: -0.154.\n \n\nTask: Move up by point three."
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} | 0 | {
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{
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"instruction": " Place the object down.",
"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 [0.01, -0.646, -0.3, 0.0, 0.0, 0.0]. \n Dimension width 0.039 meters, length 0.063 meters, and height 0.23 meters. \n 3d bounding box x1: 0.854, y1: -0.041, z1: 0.259, x2: 0.893, y2: 0.022, z2: 0.029.\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 [-0.031, -0.892, -0.303, 0.0, 0.0, 0.0]. \n Dimension width 0.038 meters, length 0.1 meters, and height 0.227 meters. \n 3d bounding box x1: 0.814, y1: -0.306, z1: 0.228, x2: 0.853, y2: -0.206, z2: 0.0.\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 [-0.013, 0.003, -0.288, 0.0, 0.0, 0.0]. \n Dimension width 0.047 meters, length 0.061 meters, and height 0.242 meters. \n 3d bounding box x1: 0.827, y1: 0.609, z1: 0.577, x2: 0.875, y2: 0.67, z2: 0.335.\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 [0.002, 0.011, 0.065, 0.0, 0.0, 0.0]. \n Dimension width 0.251 meters, length 0.599 meters, and height 0.595 meters. \n 3d bounding box x1: 0.741, y1: 0.347, z1: 0.459, x2: 0.992, y2: 0.946, z2: -0.136.\n \n\nTask: Place the object down."
} | {
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"z": 0,
"roll": 0,
"pitch": 0,
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"grasp": 0,
"gripper_force": 0
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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 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 [0.008, -0.657, -0.331, 0.0, 0.0, 0.0]. \n Dimension width 0.04 meters, length 0.06 meters, and height 0.2 meters. \n 3d bounding box x1: 0.854, y1: -0.041, z1: 0.259, x2: 0.894, y2: 0.02, z2: 0.059.\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 [-0.013, 0.007, -0.275, 0.0, 0.0, 0.0]. \n Dimension width 0.045 meters, length 0.074 meters, and height 0.256 meters. \n 3d bounding box x1: 0.83, y1: 0.617, z1: 0.288, x2: 0.875, y2: 0.691, z2: 0.033.\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 [-0.032, -0.904, -0.301, 0.0, 0.0, 0.0]. \n Dimension width 0.039 meters, length 0.099 meters, and height 0.23 meters. \n 3d bounding box x1: 0.814, y1: -0.306, z1: 0.23, x2: 0.853, y2: -0.207, z2: -0.0.\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 [0.092, -0.041, 0.109, 0.0, 0.0, 0.0]. \n Dimension width 0.249 meters, length 0.704 meters, and height 0.64 meters. \n 3d bounding box x1: 0.834, y1: 0.253, z1: 0.487, x2: 1.083, y2: 0.958, z2: -0.154.\n \n\nTask: Can you pick up the dawn bottle?"
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"instruction": " Yeah. Can you pick up the tight 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 [-0.025, 0.667, -0.277, 0.0, 0.0, 0.0]. \n Dimension width 0.049 meters, length 0.074 meters, and height 0.255 meters. \n 3d bounding box x1: 0.824, y1: 0.62, z1: 0.29, x2: 0.873, y2: 0.694, z2: 0.035.\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 [-0.039, -0.249, -0.304, 0.0, 0.0, 0.0]. \n Dimension width 0.045 meters, length 0.094 meters, and height 0.228 meters. \n 3d bounding box x1: 0.812, y1: -0.305, z1: 0.229, x2: 0.857, y2: -0.212, z2: 0.001.\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 [0.008, 0.648, 0.068, 0.0, 0.0, 0.0]. \n Dimension width 0.259 meters, length 0.614 meters, and height 0.6 meters. \n 3d bounding box x1: 0.752, y1: 0.331, z1: 0.471, x2: 1.011, y2: 0.944, z2: -0.129.\n \n\nTask: Yeah. Can you pick up the tight bottle?"
} | {
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"grasp": 1,
"gripper_force": 50
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"gripper_pose": [
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} | 0 | {
"episode_idx": 0,
"step_idx": 5
} |
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